JP2017538611A - Unmanned aerial vehicle - Google Patents

Abstract

The present invention describes an apparatus and method for controlling the positioning of a load on an unmanned aerial vehicle. Support mechanisms as described herein may provide for movement of the load relative to the central body or one or more propulsion units of the unmanned aerial vehicle. The load can move above and below the central body or one or more propulsion units. The support mechanism may include one or more guides, a first actuator, and a second actuator. The first actuator allows the load to translate relative to one or more guides, and the second actuator includes one or more loads relative to the one or more guides. It may be possible to rotate around the axis of rotation. Therefore, the positioning of the load can be well controlled and the mobility and maneuverability of the load can be enhanced.

Description

  Unmanned vehicles such as ground vehicles, air vehicles, surface vehicles, underwater vehicles, and spacecraft are being developed for a wide range of applications including surveillance, search and rescue operations, exploration, and other fields. . In some cases, the unmanned vehicle may be equipped with a load configured to collect data during operation. For example, an unmanned aerial vehicle (UAV) may be equipped with an imaging device such as a camera for aerial photography. The load can be coupled to the unmanned vehicle via a support mechanism that moves the load with one or more degrees of freedom.

  However, existing unmanned vehicles equipped with an imaging device may not be ideal in taking a picture. In most cases, due to the constraints caused by coupling the imaging device to an unmanned vehicle, an existing unmanned vehicle may only be able to take a limited shot angle before colliding with an obstacle. Therefore, it is difficult for existing unmanned vehicles to achieve multidimensional photography, for example for panoramic images.

  There is a need for improved mechanisms and methods for supporting the positioning of loads on vehicles, such as unmanned aerial vehicles (UAVs). Described herein are systems, methods, and support mechanisms for supporting the positioning of a load. These allow the load to move in different directions, thereby achieving a load with good mobility and maneuverability. The support mechanism herein is supported by or attached to the central body of the vehicle and may support the load. In operation, the support mechanism may be configured to allow the load to move relative to a vehicle component or part, such as the vehicle central body or propulsion unit. Any description of UAV herein may be applied to any other type of vehicle, and vice versa.

  The support mechanism herein may include one or more actuators or actuation assemblies that can be driven to move the load relative to the central body or propulsion unit of the UAV. To further improve the conformability and operability of the load, the gimbal or gimbal mechanism may be part of the support mechanism and can be connected to the load. A gimbal mechanism as described herein may provide for the rotation of the load about one or more different axes, each of which can be operated independently of each other. Controlled by different actuators. Actuators may optionally be fixed in position and orientation relative to each other, and the actuators may not be driven by other actuators. Therefore, the gimbal mechanism can similarly control the movement of the load with various degrees of freedom. The gimbal mechanism has a compact configuration, which can minimize or reduce the volume and weight of the gimbal mechanism while increasing the stability of movement provided by the gimbal mechanism.

  In one aspect of the invention, an unmanned aerial vehicle (UAV) is described. The unmanned aerial vehicle includes a central body. The unmanned aerial vehicle further includes one or more propulsion units configured to propel the UAV in the air. The unmanned aerial vehicle further includes a support mechanism supported by the central body, the support mechanism configured to support the load and allowing the load to translate relative to the central body. Like that.

  In another aspect of the present invention, a remote controller for controlling the positioning of a load on an unmanned aerial vehicle (UAV) is described. The remote controller includes a processor configured to generate user control instructions for controlling the UAV as described above. The remote controller further includes a communication unit configured to send user control instructions to the UAV, where the user control instructions include instructions for the support mechanism to translate the load relative to the central body.

  In another aspect of the invention, a method for controlling the positioning of a load on an unmanned aerial vehicle (UAV) is described. The method includes supporting a support mechanism on the central body of the UAV. The method also includes operating one or more propulsion units that propel the UAV in the air. The method further includes supporting the load using a support mechanism. The method further includes actuating the support mechanism to allow the load to translate relative to the central body.

  In another aspect of the invention, an unmanned aerial vehicle (UAV) is described. The UAV includes a central body. The UAV also includes one or more propulsion units configured to propel the UAV in the air. The UAV further includes a support mechanism supported by the center body, the support mechanism being configured to support the load and allow the load to pass through the center body.

  In another aspect of the present invention, a remote controller for controlling the positioning of a load on an unmanned aerial vehicle (UAV) is described. The remote controller includes a processor configured to generate user control instructions for controlling the UAV as described above. The remote controller also includes a communication unit configured to send user control instructions to the UAV, where the user control instructions include instructions for the support mechanism that allow the load to pass through the central body.

  In another aspect of the invention, a method for controlling the positioning of a load on an unmanned aerial vehicle (UAV) is described. The method includes supporting a support mechanism on the central body of the UAV. The method also includes operating one or more propulsion units that propel the UAV in the air. The method further includes supporting the load using a support mechanism. The method further includes activating the support mechanism to allow the load to pass through the central body.

  In another aspect of the invention, a support mechanism is described that is configured to support a load on an unmanned aerial vehicle (UAV). The support mechanism includes one or more guides. The support mechanism also includes a first actuator configured to allow the load to translate relative to the one or more guides. The support mechanism further includes a second actuator configured to allow the load to rotate about one or more axes of rotation relative to the one or more guides.

  In another aspect of the present invention, a remote controller for controlling the positioning of a load on an unmanned aerial vehicle (UAV) is described. The remote controller includes a processor configured to generate user control instructions for controlling the support mechanism as described above. The remote controller also includes a communication unit configured to send user control instructions to the UAV, the user control instructions allowing the load to translate relative to one or more guides. And instructions for a support mechanism that allows the load to rotate about one or more axes of rotation relative to one or more guides.

  In another aspect of the invention, a method for supporting a load on an unmanned aerial vehicle (UAV) is described. The method includes providing one or more guides. The method also includes configuring the first actuator to allow the load to translate relative to the one or more guides. The method further includes configuring the second actuator to allow the load to rotate about one or more axes of rotation relative to the one or more guides.

  It will be appreciated that different aspects of the invention may be evaluated individually, collectively or in combination. Various aspects of the invention described herein may be applied to any of the specific applications described below, or for any other type of movable object. Any description herein of an air vehicle may be applied and used with any movable object, such as any vehicle. Furthermore, the devices and methods disclosed herein in connection with motion in the air (eg, flight) may also include other types of motion, such as motion on the ground or water, motion below water, or in space. Can be applied in the context of motion.

  Other goals and features of the present invention will become apparent upon review of the specification, claims, and accompanying drawings.

INCORPORATION BY REFERENCE All publications, patents, and patent applications mentioned herein are specifically and individually listed as if each individual publication, patent, or patent application was incorporated by reference in their entirety. To the same extent as shown in this document, which is incorporated herein by reference.

  The novel features of the invention are set forth with particularity in the appended claims. The features and advantages of the present invention may be better understood with reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are used, and the accompanying drawings of which:

1 shows a schematic diagram of an unmanned aerial vehicle (UAV) comprising a support mechanism according to an embodiment of the present invention. FIG. 2 shows a schematic diagram of the UAV of FIG. 1 with a support mechanism that can move the load up according to an embodiment of the present invention. It is an example of UAV provided with the support mechanism by embodiment of this invention. FIG. 4 is a front view of the UAV of FIG. 3 with the load in the bottom position, according to an embodiment of the present invention. FIG. 5 is an enlarged view of region “I” of FIG. 4 in accordance with an embodiment of the present invention. FIG. 4 is a side view of the UAV of FIG. 3 with the load at the bottom, according to an embodiment of the present invention. FIG. 4 is a front view of the UAV of FIG. 3 with the load in the uppermost position, according to an embodiment of the present invention. FIG. 8 is a side view of the UAV of FIG. 7 in accordance with an embodiment of the present invention. FIG. 4 is a vertical view of the UAV of FIG. 3 according to an embodiment of the present invention. 4 is another example of a UAV comprising a support mechanism according to an embodiment of the present invention. FIG. 11 is a front view of the UAV of FIG. 10 with the load in the bottom position, according to an embodiment of the present invention. FIG. 12 is an enlarged view of region “II” of FIG. 11 according to an embodiment of the present invention. FIG. 12 is a side view of the UAV of FIG. 11 with the load in the bottom position, according to an embodiment of the present invention. FIG. 12 is a front view of the UAV of FIG. 11 with the load in the uppermost position, according to an embodiment of the present invention. FIG. 12 is a side view of the UAV of FIG. 11 in accordance with an embodiment of the present invention. FIG. 12 is a vertical view of the UAV of FIG. 11 according to an embodiment of the present invention. 6 is a flowchart illustrating a method for controlling positioning of a load according to an embodiment of the present invention. 6 is a flowchart illustrating another method for controlling positioning of a load according to an embodiment of the present invention. 6 is a flow chart illustrating a further method for controlling positioning of a load according to an embodiment of the present invention. 2 shows a movable object according to an embodiment of the present invention. 1 is a schematic block diagram of a system for controlling a movable object according to an embodiment.

  An apparatus, mechanism and method as described herein provides positioning of a load relative to one or more components or parts of a vehicle, for example, relative to a central body (body) or propulsion unit of an unmanned aerial vehicle (UAV). Control. The load is coupled to the vehicle by a support mechanism, and the support mechanism may allow the load to translate relative to one or more components of the vehicle or drive the load as such. obtain. The support mechanism may be configured to support the load and to drive and move the load using one or more actuators or actuation assemblies. The support mechanism may include one or more guides and one, two or more actuators. The one or more actuators may be configured to allow the load to translate relative to the one or more guides. Another one or more actuators may be configured to allow the load to rotate about one or more axes of rotation relative to the one or more guides. In some embodiments, the one or more guides may be one or more bars or rods disposed on or secured within the central body and the mounting is a bar or rod Can move along and translate relative to the central body of the vehicle or can pass through the central body of the vehicle.

  The support mechanism herein may optionally include a gimbal mechanism coupled to the load. The gimbal mechanism may rotate the load about a single axis or multiple axes (eg, 2 or more, 3 or more, 4 or more, 5 or more, etc.). For each axis, the gimbal mechanism may include a corresponding gimbal component, and the gimbal component may include an actuator and / or a frame component. Therefore, the gimbal mechanism can similarly control the movement of the load with respect to multiple degrees of freedom. Further, a gimbal mechanism as described herein may provide for the rotation of the load about at least one axis, two axes, or three different axes, where rotation about these axes is Can be controlled by corresponding actuators that can be operated independently of each other. The actuators may be fixed in position and orientation relative to each other so that neither actuator is driven by the other actuator. The gimbal mechanism described herein can have a compact configuration that can minimize or reduce the volume and / or weight of the gimbal mechanism while increasing the rotational stability of the load.

  The vehicle described herein may be an aerial vehicle, such as an unmanned aerial vehicle (UAV), and may be equipped with an imaging device, such as a camera, for aerial photography. Any description herein of UAV may be applied to any type of vehicle, such as any type of air vehicle or flightable vehicle. Any description of any type of vehicle may apply to any vehicle or any other type of vehicle. The load can be supported by a support mechanism, which can optionally include a gimbal mechanism as described above that provides movement to the load. When a load is coupled to a UAV that can be limited in volume and weight, the load can also be small and light. The support mechanism to be coupled to the UAV to support the load can also have a low volume and low weight while providing stable motion to the load. This may allow a load, such as an imaging device, to take a view from many different positions and / or orientations. The position of the load may be determined using one or more sensors, such as inertial sensors or Hall effect sensors, that may be located on the load, the support mechanism, and / or the UAV.

  The movement of the load relative to the UAV can be implemented in many different ways based on the configuration of the support mechanism. In some embodiments, the support mechanism may be configured to allow the load to translate relative to the central body of the UAV. The payload may translate in a vertical direction relative to the central body and / or translate in a horizontal direction relative to UAV components, eg, the central body. The support mechanism may also be configured to allow the load to move above and below the UAV central body or propulsion unit. The support mechanism may be further configured to allow the load to pass through the central body of the UAV. The movement as described herein may be at least one of vertical and horizontal movement of the load relative to the central body or propulsion unit of the UAV. In some embodiments, the support mechanism may be configured to allow the load to translate vertically without having to translate at all in the horizontal direction. In some other embodiments, the support mechanism may be configured to allow the load to translate vertically while allowing horizontal translation. The movement of the load may begin in response to actuation of at least one actuator of the support mechanism. Such translation of the load relative to the UAV can provide additional flexibility and versatility for use of the load. For example, since the position of the load is switched with respect to the UAV, a different viewpoint can be given to the load. The load can be used to collect the lower and upper information of the UAV by changing the location.

  The movement of the support mechanism and the translation part of the rotating part of the support mechanism (eg gimbal) can be performed independently of one another or in combination. For example, the translation portion of the support mechanism may allow the load to translate in a vertical direction while allowing the load driven by the gimbal to rotate. Further, the support mechanism may allow the load to translate (eg, vertically or horizontally) without having to rotate the load. In this way, some embodiments of the present invention can be implemented without any gimbal involvement.

  Referring now to the drawings, FIGS. 1 and 2 each schematically illustrate an example of an unmanned aerial vehicle (UAV) 10 that includes a support mechanism 11. The load 15 is supported by a support mechanism, which may allow the load to move relative to the UAV.

  The UAV 10 may include a central body 12 and frame assemblies 13 that are respectively disposed on the central body 12. Each frame assembly 13 may be equipped with a plurality of propulsion units 14. FIG. 1 shows a time when the load 15 is below the central body of the UAV. FIG. 2 shows a time when the load 15 is above the central body of the UAV.

  A UAV may be used to support the load. The load may include a support mechanism and / or a load. The central body of the UAV optionally supports the load. A UAV may be able to fly while supporting a load.

  In some embodiments, the frame assembly may be one or more arms or branches that may extend from the central body. The frame assembly may extend radially from the central body. Each frame assembly may support a single propulsion unit or a plurality of propulsion units. The propulsion unit may include one or more rotor blades and an actuator that may drive the movement of the one or more rotor blades. A UAV may be provided with any number of frame assemblies. For example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more frame assemblies may extend from the central body. The frame assembly may extend substantially transverse to the central body. The propulsion unit can be positioned to be flush with the central body. Alternatively, the propulsion unit may be above the central body and / or below the central body. The location of the propulsion unit relative to the central body may remain fixed or may be variable. In some cases, the vertical angles of the frame assemblies relative to each other and / or to the central body of the UAV may remain the same or may be variable.

  The central body may support one or more electrical components of the UAV. Examples of electrical components include, but are not limited to, a flight controller, one or more processors, a memory storage unit, an inertial measurement unit (IMU), a global positioning system (GPS) unit, one or more Sensors, communication units, and / or power units (eg, batteries). In some embodiments, one or more electrical components may be partially or fully encased within the housing of the central body. One or more electrical components may be stored in one or more cavities in the central body.

  The load can be configured to perform various functions. Further, the load may be configured not to perform any operation or function. Examples of payloads are devices that collect data (eg, imaging devices (visible light, infrared, ultraviolet (UV), geothermal or any other type of radiation); devices that detect one or more types of particles); A device that detects a field such as a magnetic field, an electric field, a radio field, etc .; a radiation detector; a microphone; any type of sensor as described in detail elsewhere herein, a device that provides radiation ( For example, light emitters, image emitters, heating elements, radio emitters, radio signal emitter particle emitters, devices that interact with the environment (eg robotic arm, sample collector, liquid distributor, insecticide or fertilizer spray) Device), or any other type of device, or a combination thereof.The load can also include one or more targets, eg, One or more sensors for investigating the environment surrounding the sensor may be included, including any suitable sensor, such as an image capture device (eg, camera), audio capture device (eg, parabolic microphone), An infrared imaging device, or an ultraviolet (UV) imaging device may be incorporated, and the sensor may provide static sensing data (eg, photographs) or dynamic sensing data (eg, images). The sensor may provide sensing data regarding the target of the on-board device, alternatively or in combination, the on-board may include one or more emitters for providing a signal to one or more targets. Any suitable emitter may be used, such as an illumination light source or a sound source, hi some embodiments, the payload is remote from the movable object. One or more transceivers may be included for communicating with a module, etc. Optionally, the load may be configured to interact with the environment or target, for example, the load may be a robot It may include tools, instruments, or mechanisms that can manipulate objects such as arms, etc. The mount can be removably coupled to or attached to a support mechanism via a gimbal or gimbal mechanism. A mounted load may refer to either a load or an object part supported by a gimbal.

  In some embodiments, the load may include an imaging device configured to acquire and / or transmit one or more images of an object within the field of view of the imaging device. Examples of imaging devices may include cameras, video cameras, infrared imaging devices, ultraviolet imaging devices, thermal imaging devices, smartphones / cell phones with cameras, or any device that can capture optical signals. Non-imaging devices may include any other device for collecting or distributing sound, particles, liquids, etc. Examples of non-imaging devices may include a microphone, loudspeaker, particle or radiation detector, fire hose, and the like. Any description herein of camera mounting can be applied to other types of mounting devices.

  The support mechanism can be coupled to any suitable portion of the UAV. For example, the support mechanism can be coupled to the central body. For example, the support mechanism can be coupled to the inner or outer edge of the central body when the central body is designed and manufactured as having a hollow structure. The support mechanism may be configured to extend above and below the central body of the UAV. The length of the support mechanism extending above the central body may be equal to the length of the support mechanism extending below the central body. Alternatively, the length of the support mechanism that extends above the center body may be longer than the length of the support mechanism that extends below the center body, or vice versa. The support mechanism can pass through the central body of the UAV. In some cases, the lateral dimension of the support mechanism does not exceed the lateral dimension of the central body. Alternatively, the lateral dimension of the support mechanism can extend beyond the lateral dimension of the central body.

  The support mechanism may optionally have an elongated structure. The length of the support mechanism may be perpendicular to the plane containing the UAV propulsion unit. For example, the support mechanism can be oriented substantially perpendicular to the central body of the UAV. Alternatively, the length of the support mechanism may be parallel to the plane containing the UAV propulsion unit. For example, the support mechanism can be oriented substantially horizontally with respect to the central body of the UAV. In some cases, the length of the support mechanism may be at any angle relative to the plane containing the UAV propulsion unit. For example, the support mechanism may be substantially beveled with respect to the central body of the UAV.

  The joint between the UAV and the support mechanism may be a fixed joint. In some cases, the positioning and / or orientation of the support mechanism relative to the UAV (eg, any component of the UAV) may be fixed. Alternatively, the positioning and / or orientation of the support mechanism relative to the UAV (eg, any component of the UAV) may be variable. Such positioning and / or orientation may be changed manually by the user or using one or more actuators. In some cases, the connection between the UAV and the support mechanism may provide some vibration damping. Vibration damping may reduce vibrations in the vertical direction, the horizontal direction, or any combination thereof. In some cases, the vibration damping mechanism may cause the support mechanism to maintain its orientation relative to the UAV. In some cases, the vibration damping mechanism may allow some variation in the orientation of the support mechanism relative to the UAV. The support mechanism may allow a load supported by the support mechanism to move or translate relative to the UAV. Any description of positioning, orientation, and / or movement relative to the UAV may apply to positioning, orientation, and / or movement relative to any component of the UAV. Examples of UAV components include, but are not limited to, a central body, frame assembly (eg, arm or branch), propulsion unit, landing stand, electronic component, sensor, controller, memory unit, power unit ( Battery), or any other component of the UAV.

  In some embodiments of the present invention, the load is driven by the support mechanism and includes a length or length of the support mechanism when the support mechanism includes one or more guides for guiding the load to move. Can translate along. The load can translate relative to the UAV. The load can translate relative to a static reference frame (eg, the environment). For example, the load can translate relative to the direction of gravity. For example, as shown in FIGS. 1 and 2, the support mechanism may allow the load to translate vertically (eg, from the bottom end of the support mechanism to the top end of the support mechanism or the support mechanism). From the top edge of the support to the bottom edge of the support mechanism). In this way, the support mechanism allows the payload to translate below or above the UAV central body or propulsion unit. Further, the support mechanism may allow the load to pass through the central body. Therefore, when the load is served as an imaging device, by moving the imaging device below or above the UAV central body or blade, or by moving the imaging device past the UAV central body, Aerial shooting with a flexible shooting angle and an unobstructed field of view can be realized. This can provide a wider range of captured images that are unobstructed. For example, if the user wants to take an image of the lower side of the UAV, the imaging device is positioned below the central body of the UAV and has a wide view without being blocked by the UAV's central body and / or propulsion unit. Ing options may be provided. If the user wants to take an image above the UAV, the imaging device is captured on the upper side of the UAV's central body and can be viewed over a wide range above the central body without being blocked by the UAV's central body and / or propulsion unit. Options can be provided.

  The support mechanism may allow the load to translate relative to the UAV. The load can translate along the length of the support mechanism. The load can traverse the entire length of the support mechanism. In some cases, the load may reach a static viewing position at the tip of the support mechanism (eg, the bottom of the support mechanism and / or the top of the support mechanism). In some cases, the load can reach some static viewing position along the length of the support mechanism. For example, the load can stop somewhere between the tips of the support mechanism. In some cases, the load may stop at one or more fixed positions between the tips of the support mechanisms. Alternatively, the load can be stopped at any point between the tips of the support mechanism.

  The load can rotate about one or more axes relative to the UAV. The load can rotate when the load is stopped along the support mechanism. In some cases, the load can only rotate when the load is no longer translating. Alternatively, the load can simultaneously rotate and translate. The load can rotate while moving along the support mechanism.

  Support mechanisms as described herein may be configured to have a variety of structures or arrangements. In some cases, the support mechanism includes at least one rod or bar that can be driven to support the load and move the load along the rod or bar. In some other cases, the support mechanism has two rods or bars arranged to be substantially parallel to each other so that the support mechanism is one or more actuators, eg, motors Can allow the load to move along two rods or bars. In some cases, a single rod or bar may drive the motion of the load, while one or more other rods or bars provide stability or support to the load. Alternatively, multiple rods or bars can drive the motion of the load.

  In order to allow movement of the load relative to the UAV, the support mechanism may include one or more actuators or actuation assemblies. The actuator may include one or more moving parts. The actuator may allow the load to move relative to any component of the UAV, such as the central body or propulsion unit of the UAV. The actuator may be a rotary actuator configured to produce a rotational motion or torque. The actuator may include automatic or machine driven components, such as an electric motor. In some cases, the motor may include a brushless motor. In some embodiments, the motor may be a direct drive motor that can obtain rotational power from a belt, chain, or gearbox without any reduction. Furthermore, direct drive motors can provide high speed, high precision positioning without being adversely affected by, for example, torque irregularities or lost motion or lost motion. In some cases, the motor may include a servo motor. The servo motor may include a motor, a sensor, and a controller for precisely controlling the motor. The servo motor may include a sensor (eg, a hall sensor or potentiometer) for detecting the position, speed, and / or acceleration of the motor and the load coupled to the motor. The controller may receive data (eg, information) from the sensor and further control the angular position, speed, acceleration and / or torque of the motor as desired. Alternatively or in combination, the actuator may include a manually operated component, such as a lever, handle, knob, or tilt mechanism. The load may begin to move in response to actuation of a corresponding actuator (eg, a motor).

  By activating a system that includes one or more actuators, the load can be translated relative to the UAV. For example, one or more actuators can move the length of the support mechanism to the load. If the support mechanism includes one or more rods / bars, the actuator may drive the load to move along the length of the one or more rods / bars. The actuator may move one or more components of one or more rods / bars to cause a movement of the load along the rods / bars.

  An actuation assembly that includes one or more actuators may rotate the load relative to the UAV. For example, the one or more actuators may be part of a gimbal mechanism that may allow the mount to be rotated relative to the UAV about one, two, three or more axes. One, two, three or more axes can be orthogonal to each other in the original state. Alternatively, the axes need not be orthogonal to each other. The axis can include a pitch axis, a yaw axis, and / or a roll axis of the load.

  In some embodiments, the actuator may receive an electronic signal that provides a command that affects the operation of the actuator. In some cases, the instructions may come from a remote controller (eg, user control instructions or commands). User control instructions for activation may be received in response to human input. The user can specify the positioning / orientation of the load and / or the movement of the load. Since the user can directly and manually control the movement of the load, the input from the user directly leads to a response by the load. For example, the load may move up while the user provides an “up” command, and may stop moving up once the user stops providing the “up” command. Alternatively, the control can be automated or semi-automated. For example, the user may specify a desired position of the load and the system may automatically move the load to the desired position. For example, if the user specifies the user's desire that the camera is in the top position and is angled 45 degrees upward, the system may automatically move the load to that position. In some cases, the user can switch between manual control and automated or semi-automated control mode. Alternatively or in combination, a command to activate can be automatically generated by the controller without any human intervention. Automatic generation can occur in a remote controller or a UAV onboard controller. Automatic generation may occur in response to one or more detected conditions (e.g., conditions detected with respect to the environment, UAV, support mechanism, and / or load).

  The actuator can operate in response to an electronic signal. Actuation of the actuator may directly drive a frame and / or component coupled to the actuator. For example, a gimbal to which the mount can be coupled may be activated and / or a translation portion of the support mechanism may be activated. Actuation of the actuator may cause a component directly coupled to the actuator to rotate directly about one or more axes or translate parallel to the longitudinal axis of the actuator. As used herein, actuation can cause the load to move relative to the central body or propulsion unit of the UAV, or drive so (eg, in translation and / or rotation).

  The load can translate at a constant speed relative to the UAV. In some cases, the movement of the load may not exceed the maximum speed limit. In some cases, the load can translate with variable speed relative to the UAV. In some cases, the speed and / or acceleration of the load relative to the UAV may depend on input from the user. The user can manually control the speed and / or acceleration of the translation of the load. Alternatively, the speed and / or acceleration of the translation of the load can be controlled automatically or semi-automatically. Similarly, the load can rotate at a constant speed relative to the UAV. In some cases, the rotation of the load may not exceed the maximum speed limit. In some cases, the payload can rotate at a variable speed relative to the UAV. In some cases, the angular velocity and / or angular acceleration of the load relative to the UAV may depend on input from the user. The user can manually control the angular velocity and / or angular acceleration of the load. Alternatively, the angular velocity and / or angular acceleration of the load can be controlled automatically or semi-automatically.

  In some embodiments, the payload is at least about 1 mm / sec, 2 mm / sec, 3 mm / sec, 5 mm / sec, 1 cm / sec, 2 cm / sec, 3 cm / sec, 4 cm / sec, 5 cm / sec, 7 cm / Sec, 10 cm / sec, 15 cm / sec, 20 cm / sec, 25 cm / sec, 30 cm / sec, 40 cm / sec, 50 cm / sec, 75 cm / sec, or 1 m / sec. In some cases, the payload may have a maximum translation speed that is below or below any of the values provided herein.

  The rotational direction of the component (eg, frame) may be clockwise or counterclockwise. Actuation can affect the rotation of components in a clockwise or counterclockwise direction. The actuator may be able to control both clockwise and counterclockwise rotation. By rotating the components in the clockwise or counterclockwise direction, the support mechanism reaches the opposite side of the guide as shown in FIG. 2 along one or more guides of the support mechanism. You can move until you do. In some cases, the direction of motion of the load can be changed by changing the direction of rotation of the actuator (eg, changing the direction of translation or changing the direction of rotation).

  In some cases, the support mechanism may provide one or more distance measurement components for measuring the distance by the load along the support mechanism. In some cases, the position of the load relative to the UAV components and / or the end of the support mechanism may be determined. In this way, the movement of the load relative to the UAV can be precisely controlled so that the corresponding task as performed by the load can be completed at the desired or required location. The distance moved may be an absolute distance that the load moves or a relative distance based on the selection of different reference points (eg, the end of the support mechanism, one or more components of the UAV). The position of the load along the support mechanism can be determined with a high degree of specificity. In some cases, the position of the load can be determined within a few centimeters, 1 cm, 5 mm, 3 mm, 2 mm, 1 mm, 0.5 mm, or 0.1 mm or less. The distance traveled by the load can be predetermined or preset according to different conditions or for different purposes, eg for aerial photography, surveillance, etc. In addition to the linear position, the rotational position of the load can be determined as well. The angle of rotation about one or more axes relative to the load can be precisely controlled. In some cases, the angular position of the load may be determined to be within 10 degrees, 5 degrees, 3 degrees, 2 degrees, 1 degree, 0.5 degrees, or 0.1 degrees or less.

  In some embodiments, the movement of UAVs, support mechanisms, and / or loads relative to a fixed reference system (eg, the surrounding environment) and / or relative to each other may be controlled by the terminal. The terminal may be a remote control device or remote controller at a location remote from the UAV, support mechanism, and / or load. Any suitable user input, e.g., manually entered command, voice control, gesture control, or position control (e.g. terminal movement, location or tilt) to control the positioning of the load on the air vehicle To interact with the terminal. The remote terminal may be capable of interacting with one or more buttons, joysticks, keys, trackballs, touchpads, touch screens, microphones, inertial sensors, thermal sensors, cameras, or one or more users Other user interactive devices may be included.

  The terminal may further be used to control any suitable state of the UAV, support mechanism, and / or payload. For example, a terminal may be used to control the position and / or orientation of UAVs, support mechanisms, and / or loads relative to a fixed reference frame and / or relative to each other. In some embodiments, the terminal may be used to control UAVs, support mechanisms, and / or individual elements of the load, such as an actuation assembly of the support mechanism, a load sensor, or a load emitter. A terminal may include a wireless communication unit device adapted to communicate with one or more of a communication unit, eg, a UAV, a support mechanism, or a load. The terminal may include a suitable display unit for visually or graphically displaying UAVs, support mechanisms, and / or onboard information.

  FIG. 3 is an example of a UAV 30 with a support mechanism according to an embodiment of the present invention.

  The UAV 30 may include a central body 31 and one or more frame assemblies 32 (eg, arms or branches) respectively disposed on the central body. A plurality of propulsion units 33 are attached to the frame assemblies extending from the central body. In addition, the UAV includes one or more support members 34, which can be provided to support the UAV when placed on a surface (eg, the ground).

  The central body 31 can be designed as a flat structure having a polygonal shape. The polygon may be a regular shape, such as a circle, triangle, square (eg, square, rectangle, trapezoid, or rhombus), hexagon, octagon, and the like. The central body can optionally have a central hole or cavity 35. The cavity placed within the polygon may have the same shape as the polygon or may have a different shape from the outer polygon. For example, the cavity may be designed to have a circular, triangular, quadrangular (eg, square, rectangular, trapezoidal, or rhomboid), hexagonal, or octagonal shape in the center of the central body. In some embodiments, the central body can be designed to have a multi-layer structure, for example, two layers 311 and 312 that are parallel to each other with a gap as shown in FIG. The multiple layers can be formed by multiple plates that can have the same shape or dimensions, or that can have different shapes or dimensions. Each frame assembly coupled to the propulsion unit may be coupled to the central body at the polygonal apex between the layers. For example, if eight frame assemblies are provided, the frame assemblies can be placed at the apex of an octagonal central body. In this way, the structural arrangement of the UAV is simpler and smaller and a good balance, rigidity and stabilization of the UAV can be achieved.

  Each propulsion unit is used to allow the UAV to move in take-off, landing, hovering and air with respect to translation and / or rotation up to 3 degrees of freedom, respectively. The propulsion unit may include one or more rotors 331. The rotor may include one or more rotor blades 332 coupled to the shaft of the rotor 331. The rotor blade and shaft are driven to rotate by a suitable drive mechanism such as a motor. Although a UAV propulsion unit is shown as eight rotors, any suitable number, type, and / or arrangement of propulsion units may be used. For example, the number of rotors can be 1, 2, 3, 4, 5, 6, 7, 8, or more. The rotor may be oriented perpendicular to the central body or UAV, horizontally, or at any other suitable angle. The rotor angle may be fixed or variable. The distance between the shafts of the opposing rotors can be any suitable distance, for example, 2 m or less, 5 m or less, and the like. Optionally, the distance may be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. The propulsion unit as described herein may be driven by any suitable motor, such as a DC motor (eg, brushed or brushless) or an AC motor. In some cases, the motor can be adapted to mount and drive a rotor blade.

  In some embodiments, each frame assembly may be removable from the central body. Similarly, the rotor of each propulsion unit is conveniently removable for loading and preferably removably attachable to the shaft. Alternatively, the frame assembly and / or propulsion unit may remain attached. The frame assembly may or may not be movable relative to the central body. In some cases, the frame assembly may be movable using one or more actuators.

  As shown in FIG. 3, the UAV further includes one or more support members 34, which may be provided to support the UAV when placed on a surface (eg, the ground). The support member may include a shaft 341 that may be rotatably connected to the central body of the UAV and a crossbar 342. The support member can rotate relative to the central body of the UAV. The crossbar can be at or near the distal end of the shaft. The crossbar is disposed at a suitable angle with respect to the shaft, and may, for example, extend perpendicular or nearly perpendicular to the shaft. The crossbar may be coupled to the shaft via any suitable portion of the crossbar, such as at or near the midpoint of the crossbar. In some embodiments, one or more support components 343 may be located at or near each end of the crossbar. One or more support components may be provided as one or more peripheral bands or hoops and may cover each end of the crossbar or near it. One or more support components may also be provided as one or more wheels located at or near each end of the crossbar, thereby easily moving the UAV after landing on the ground. be able to. The one or more support components herein can be made from a variety of materials, such as metal or plastic materials. In some embodiments, the one or more landing members may be made from a vibration-absorbing material, such as a man-made material, to reduce or cancel vibrations generated during the landing of the UAV.

  In some embodiments, the support member may include a tensioning mechanism that optionally includes a resilient element 344 and a fastener 345. The fastener may be attached to the shaft by bolts or nuts, and one end of the elastic element may be coupled to the fastener and the other end of the elastic element to the central body of the UAV. Herein, the elastic element can be implemented as a spring that can be pulled by a pulley mechanism located in the central body. Thereby, the support member can be folded or retracted when the spring is tightened after the UAV takes off, and the support member can be unfolded or stretched when the UAV is about to land on the ground. . Herein, the elastic element is also implemented as a piston and can be driven to expand and close the support member relative to the central body by the reciprocating movement of the piston.

  In some embodiments, the relative location of the support member relative to the support mechanism when the support members are in their closed configuration, i.e., during flight of the UAV, in order to avoid disturbing visibility due to the support members. Is preferably preset or pre-configured. With this in mind, in some embodiments, the length of the crossbar can be shortened so that it does not enter the field of view of the imaging device. In some embodiments, instead of using a crossbar, more shafts are applied to directly support the UAV, e.g., 3, 4 or more shafts around the central body of the UAV. Can be distributed symmetrically. In some embodiments, the pulling mechanism is at a power of 100 degrees, 105 degrees, 110 degrees, 115 degrees, 120 degrees or more relative to the support mechanism, for example, the lower portion of the guide below the central body. The shaft can be pulled to an angle of.

  In some embodiments, instead of using one or more support members disconnected from the propulsion unit, one or more support components coupled to the propulsion unit may be used when the UAV lands on the ground. Can be applied to support UAV. The one or more support components may be located in the vicinity of the propulsion unit, such as in any suitable part of all or all of the frame assembly, for example, below the propulsion unit. As used herein, one or more support components may be static, eg, fixed below the propulsion unit. Alternatively, one or more support components may be movable relative to the propulsion unit or frame assembly by sliding, rotating, folding, pivoting, extending, retracting, etc.

  A UAV central body as described herein may be used to support the support mechanism 36 and the load 37. The support mechanism may be coupled to any suitable portion of the central body, such as the bottom or lower surface of the central body. The support mechanism can be attached to the side or top surface of the central body. In some cases, the support mechanism may pass through a cavity in the central body. The support mechanism may be attached to the inner surface of the central body cavity. For example, if the cavity includes a cutout in a polygonal shape, the support mechanism may pass through the cutout portion and / or contact the side of the cutout. The joint between the support mechanism and the central body may be a fixed joint or an integral shaft joint and may prevent the support mechanism from moving relative to the central body. In some cases, the coupling portion herein may be a flexible joint that may allow some movement between the support mechanism and the central body. The support mechanism may be permanently fixed to the central body, or the support mechanism may be removable from the central body.

  In some embodiments, the support mechanism 36 can have two guides 361 and 362 that are substantially parallel to each other. As used herein, the guides may be provided in different forms, such as bars or rods, and they may be extensible so that they are easy to transport and package. Any number of guides may be provided, including but not limited to 1, 2, 3, 4, 5, 6, or more guides. The guide may be placed on any suitable part of the central body. In some embodiments, the guide can be fixed vertically inside the central body by various techniques, such as welding, soldering, riveting, bolting, and the like. The one or more guides have one or more actuating assemblies 363 that drive the load to move along the guides so that the load is on the UAV or any component of the UAV. It can be freely positioned relative to. This allows the load to move freely above or below the central body and / or propulsion unit. In some embodiments, the actuation assembly can be implemented by a synchronization belt assembly 39. A synchronous belt assembly disposed in the guide may drive the load to move along the guide using one or more motors mounted along the guide. The motor or motors may be mounted somewhere between the bottom of the guide, the top of the guide, or between the top and bottom of the guide.

  Guides as illustrated herein are presented as examples only, and one of ordinary skill in the art will understand that the support mechanism may be implemented by other structures based on the teachings presented herein. Please note that. For example, one or more additional guides that are perpendicular to and connected to existing guides may be arranged. In this case, the support mechanism may allow the load to move horizontally relative to the UAV central body or propulsion unit, thereby obtaining a flexible movement of the load in different directions.

  The mounted object driven by the support mechanism of FIG. 3 is shown as an imaging device, for example, a camera, and can be directed downward or upward with respect to the central body, thereby enabling low-angle shooting and high-angle shooting, respectively. Can be executed. The camera can also be aimed sideways. The camera is configured to rotate relative to the central body (eg, by a gimbal or other mounting platform) and can take images from multiple viewing angles. The mount can be configured to connect to the guide via a gimbal 38, for example, a three-axis gimbal as shown. The camera is only provided as an example, and other types of loads may be provided. The gimbal may be a 1 axis gimbal, a 2 axis gimbal, a 3 axis gimbal, or any other type of gimbal. In an alternative embodiment, the camera can remain in a fixed orientation but can be translated relative to the UAV.

  Although the gimbal is shown as being underneath the UAV, depending on the mounting position of the support mechanism, the gimbal disclosed herein may be the upper surface of the UAV, the lower surface of the UAV, the upper or lower side of the central body of the UAV , Can be mounted on the upper side or the lower side of the peripheral portion of the UAV. Therefore, in some embodiments, two imaging devices may be placed on the upper and lower surfaces of the UAV, respectively, since another gimbal coupled to the imaging device may be placed on the upper end of the support mechanism. In some embodiments, 1, 2, 3 or more loads can move the support mechanism. The load can move the support mechanism at the same time. The loads may or may not pass one another along the support mechanism.

  The gimbal may include a single actuator or a plurality of actuators 381, 382 and 383 that are configured to provide rotation of the load about one or more axes of rotation and to stabilize the movement of the load. In some embodiments, the gimbal can be adapted to control the state (eg, position and / or orientation) of the load relative to the UAV. For example, the gimbal is configured to move the load relative to the UAV (eg, with respect to translation of 1, 2, or 3 degrees of freedom and / or rotation of 1, 2, or 3 degrees of freedom) Regardless, the load, such as a camera, may maintain its position and / or orientation relative to a suitable reference frame. The reference system may be a fixed reference system (eg, the ambient environment). Alternatively, the reference system can be a movable reference system (eg, UAV or payload target). For example, the load can be stabilized relative to a fixed reference frame and maintain substantially the same orientation when the UAV flies around. In some cases, the effects of vibration or jitter can be reduced or eliminated.

  In some cases, as shown in FIG. 5, the gimbal may include one or more frame assemblies 384, 385 and 386. The frame assembly may provide structural support for the load. The frame assembly may include individual frame components, some of which may be movable relative to each other. The frame components can rotate relative to each other. One or more actuators (eg, motors) 381, 382, 383 of the gimbal may actuate the movement of individual frame components. The actuator may allow multiple frame components to be moved simultaneously, or may be configured to allow one frame component to be moved at a time. The movement of the frame components can cause a corresponding movement of the load. For example, the actuation assembly may actuate rotation of one or more frame components around one or more rotational axes (eg, roll axis, pitch axis, or yaw axis). By rotating one or more frame components, a load, such as an imaging device, may be rotated about one or more axes of rotation relative to the air vehicle.

  In some embodiments, the turn order of the load device can rotate the load device under the normal operating environment of the load device, such as when facing down, without having to overcome the “gimbal lock” problem. Selected as For example, in one embodiment, the rotation order may be pitch, roll, and yaw from the innermost to the outermost axis of rotation. In another embodiment, the rotation order may be pitch, roll and yaw from the outermost to the innermost axis of rotation. Arbitrary rotation order of the load device (e.g., pitch / yaw / roll, roll / pitch / yaw, roll / yaw / pitch, yaw from outermost to innermost rotation axis or from innermost to outermost rotation axis) / Roll / pitch, or yaw / pitch / roll) may be considered.

  4 is a front view of the UAV 30 of FIG. 3 with the load in the bottom position, according to an embodiment of the present invention. A load, for example an imaging device as shown, can be connected to the guide of the support mechanism by a gimbal surrounded as a region “I” by a dotted ellipse. As described above, a gimbal (eg, a three-axis gimbal as illustrated herein) may assist in rotating the imaging device about one, two, three, or more axes. On the other hand, based on an exemplary synchronization belt implementation, the imaging device can be pulled by the synchronization belt to reach any suitable position along the length of the guide. In order to further explain the connection relationship and the operating principle, a description will be given with reference to FIG.

  FIG. 5 is an enlarged view of region “I” in FIG. 4. A load 51 (eg, a camera) can be coupled to the gimbal. As described so far, the gimbal herein may be a three-axis gimbal and therefore may include three actuation assemblies, such as an actuation assembly 381, an actuation assembly 382, and an actuation assembly 383. Based on this coupling, the load may be able to rotate around different degrees of freedom, for example around the pitch, yaw, and roll axes. The support mechanism may provide a first connection element 52 and a second connection element 53 to allow movement of the load along the guide. The first connection element may connect the support mechanism to the first guide 362 and the second connection element may connect the support mechanism to the second guide 361.

  In some embodiments, one side 521 of the first connecting element 52 coupled to the first guide is configured to have one or more protrusions, such as tabs, blocks, or gears, The protrusion can snap into the internal groove of the guide and move along the length of the internal groove. The inner groove of the guide may have the same length as the guide. Alternatively, the length of the internal groove may be shorter than the length of the guide. The one or more protrusions engage the groove so that the first connecting element is in close engagement with the guide and the imaging device cannot move off or slide off the guide as it moves along the guide with the gimbal. Like that. The other side 522 of the first connecting element may be coupled to a gimbal (eg, frame assembly 384). For example, the first connecting element may be screwed onto the gimbal frame assembly. The first connecting element may be connected to the gimbal frame assembly so that the frame assembly can rotate relative to the first guide.

  One side 531 of the second connection element 53 may be coupled to a gimbal (eg, actuation assembly 831) and another side 532 of the second connection element may be coupled to a second guide. The second guide may optionally have a synchronization belt assembly. The second connection element may be connected to the synchronization belt assembly. The coupling between the second connecting element and the synchronous belt assembly can be performed by a number of possible approaches, such as welding, soldering, riveting, bolting and the like.

  The synchronization belt assembly can include a synchronization belt 391. The synchronization belt may be a toothed belt that can engage the gear 392. The gear or gear wheel may be driven to rotate by an actuating assembly such as a motor, eg, actuating assembly 363. The actuation assembly may be placed at any suitable location on the guide. For example, as shown in FIG. 3, the actuating assembly can be located on the front or back side of the guide. Alternatively, the actuating assembly can be located at the top end of the guide, rather than being located at the bottom end of the guide relative to the central body of the UAV as shown in FIGS. It can be placed somewhere along the length. Another gear or drive wheel 393 can also be placed on the other side of the guide, for example at the upper end of the guide, such as that shown in FIG. 3, so that the synchronization belt rotates smoothly. Any number of drive wheels may be provided at any location.

  The toothed belts, pulleys or gears described herein can be molded from any suitable synthetic material, especially for the transmission or gearing of a toothed belt drive for motors. This has the further advantage of significantly reducing the cost of the drive and reducing the wear of the toothed belt to a minimum when compared to the same device using metal gears, and therefore mechanical assembly The advantage of prolonging the lifespan can be obtained.

  Synchronous belt assemblies as described herein are for illustration only, and those skilled in the art may be able to apply other synchronous belt arrangements that result in mounting movement relative to the UAV central body or propulsion unit. I understand that. The actuation assembly used to drive the synchronization belt can be located at any suitable location on the guide. For example, the actuating assembly can be located on both sides of a single guide. In addition, a separate synchronization belt may be used for the opposing guides, regardless of potential cost and complexity. Therefore, a good balance is achieved and the load can be moved more quickly and easily. When actuating assemblies are provided on multiple guides, they can be synchronized to move the ends of the load at the same speed. For example, both the first guide and the second guide have actuators that operate at the same speed, and drive the belt arrangement at the same speed and direction, thereby being supported by both guides. However, the guide can be moved without being substantially rotated due to the guide.

  Furthermore, the length of the synchronization belt, the number of teeth of the drive wheel, the size of the drive wheel, or the power of the actuating assembly can be intentionally determined or set when considering the travel distance or speed of the load. For example, when the load needs to move at high speed, a relatively high power actuation assembly needs to be applied to bring more energy to the drive wheels so that the synchronous belt can be rotated more quickly. possible. Again, when precise movement of the load is required, small diameter drive wheels can be applied so that the movement of the load along the guide can be accurately controlled. Thus, a synchronous belt arrangement as described above can be designed by taking into account one or more of the factors described above. Alternatively or in combination, the synchronization belt arrangements described herein may include a mounting structure coupled to the synchronization belt, and the mounting structure may be, for example, a mechanical fastener, an adhesive, or One or more interlocking connections are configured to securely couple the gimbal to the guide of the support mechanism.

  6 is a side view of the UAV of FIG. 3 with the load at the bottom, according to an embodiment of the present invention. It can be seen that due to the gimbal actuation assembly 383 located on the back side of the imaging device, the load (eg, imaging device) can be rotated about the roll axis. While the imaging device is below the central body and the propulsion unit of the UAV, the imaging apparatus can perform low-angle shooting without being blocked by the central body and the propulsion unit. However, because of this orientation, it is not ideal for the imaging apparatus to perform high-angle shooting. Because when the imaging device is aimed upwards, especially when the rotation of the imaging device driven by the gimbal around the pitch axis reaches a certain degree, the image of the central body or the propulsion unit appears in the optical viewfinder of the imaging device Because it can. In order to avoid such types of visual interference, the support mechanism according to embodiments of the present invention may allow the load to move upward, above the central body or propulsion unit. Therefore, there is nothing to block the high-angle shooting performed by the load. The payload can move above or below the central body as required to collect unobstructed images or other data.

  7 is a front view of the UAV of FIG. 3 with the load in the uppermost position, according to an embodiment of the present invention.

  The load supported by the support mechanism was moved along the guide of the support mechanism so as to be at or near the upper end of the guide. The load can be moved by an actuating assembly, such as a synchronization belt. In some embodiments of the present invention, the translation of the load along the guide can be configured in many ways. A possible configuration allows for translation of the load relative to the UAV, disables translation of the load relative to the UAV (eg, UAV central body or propulsion unit), and for loads that translate relative to the UAV. One or more options may be included to set one or more translation directions and to set one or more translation distances for a load that translates relative to the UAV. These configurations can be predetermined or preset depending on user preferences or application conditions. Various options may be implemented using a user interface displayed on the load, located on a control panel on the UAV, or visually displayed on a remote controller.

  Options may be selected that may allow for translation of the load. In such situations, the load can be moved along the guide of the support mechanism. This can occur in response to a user command or can occur automatically. In some cases, the load may move at a given time (eg, at 4:00 PM or at any other specified time) or after a given period (eg, the UAV is launched into the air) After 1 minute or 2 minutes). The payload can move along the guide according to a given motion schedule for the camera. The schedule may be provided in terms of absolute time or in terms of UAV driving functions, such as switching on or taking off. In some cases, the load may move in response to an environment, UAV, support mechanism, or a detected condition of the load. For example, the load may begin to move on the bottom side of the support mechanism. Sensors on the UAV can detect motion that has occurred on the upper side of the UAV. The camera may move above the central body of the UAV so that what is causing the motion above the UAV looks better.

  Options can be selected that can override the translation of the load. By disabling the translation of the load, the load may not move along the guide during UAV operation and / or during flight of the UAV. In some cases, automatic translation of the UAV may not occur. In some embodiments, user input that results in a translation of the load can be overridden or ignored. Therefore, even if the user provides an input that translates the load by remote control, the load may not be translated when translation is disabled. This may or may not be combined with disabling rotation of the load. In some cases, the translation of the load may be disabled while rotation of the load may be enabled. For example, user input to control rotation can be allowed, or automatic rotation can occur. In another example, the rotation of the load may be automatically disabled by disabling translation. This may be referred to as invalidation of all movement of the load relative to the UAV. Alternatively, the option to disable or not disable UAV rotation can be selected simultaneously. In some cases, the reverse can also occur. For example, the rotation of the load can be disabled, while the load can be translated.

  Enabling and / or disabling the translation of the load may occur in response to a user command. In some cases, user instructions are provided prior to UAV flight. In some cases, this may prevent the user from changing the translation settings for the load during UAV flight. Alternatively, the instructions may be provided during UAV flight. The instructions can be provided from a user by a remote controller. In some cases, the instructions can be manually provided by the user directly in the UAV. When instructions are provided in the UAV, the user may or may not be able to provide subsequent instructions via the remote controller. In some cases, when a translation override is selected during flight, the load can temporarily stop and remain in its current position until further user control commands are received. This may be advantageous if the current location turns out to be a very good location for taking some magnificent views. As described above, invalidity can refer to translation only, rotation only, or both translation and rotation.

  In some embodiments, the range and / or direction of movement of the load can be preset or limited. For example, the user may provide an input that allows only an upward movement of the load or a downward movement of the load. The user may provide input that limits the distance that the load can travel along the support mechanism. The user may also provide input (eg, an upper limit and / or a lower limit) that limits the locations where the load can move along the support mechanism.

  The direction of translation before or during flight can be controlled. For example, before flight, depending on the current location of the load, the user can set the load to move in the opposite direction so that a single movement can be taken at a high angle or a low angle. obtain. Further, the user may configure the load to move to its original location, for example, the bottom end of the guide relative to the central body or the top end of the guide before flight. During the flight, the user may also be able to control the direction of translation of the load relative to the central body or propulsion unit. For example, if low angle shooting is preferred, the user can wirelessly control the load to move to the top of the guide. This can be done by displaying to the user a user interface in which the “up” and “down” directions are displayed respectively for the user selection. Furthermore, this can also be done by a joystick located on the remote controller or by voice input by voice recognition technology.

  The user may also configure one or more translation distances for the load to move. In some cases, for various imaging targets or different imaging conditions, the user may configure the load to move more or less. For example, for an imaging target far above or below the UAV, the translation distance of the load can be set longer than normal. This is because the load can move a longer distance and reach each opposite end of the guide so that a low angle or high angle shot can be obtained. Furthermore, depending on whether the view obstructed by the propulsion unit is acceptable, the translation distance can be preset as a long distance or a short distance (e.g., differently classified or specified) Numeric range). For example, if visual interference by the propulsion unit is unacceptable, the translation distance may be preset as a long distance. In contrast, short translational distances can be predetermined or preset if visual interference by the propulsion unit is not strictly prohibited. Therefore, the movement of the load can be controlled efficiently.

  In some embodiments, the shooting or photography operations performed by the load may be predetermined or preset before flight or during flight. For example, the user can configure the imaging device as a specific type of load and continue to shoot while moving in parallel. Conversely, the user may configure the imaging device not to shoot while moving in parallel, i.e., to stop or stop shooting during translation. In some cases, the user may configure the imaging device to continue shooting within a certain translational distance. In contrast, the user may configure the imaging device not to shoot within a certain translation distance, i.e. to cease shooting. Whether the load device is operating is determined by the parallel movement distance, parallel movement speed, parallel movement acceleration, parallel movement distance, detected environmental condition, detected UAV condition, detected support mechanism condition, Depends on load status, user instructions, and / or any other factors. In this way, the shooting operation can be flexibly controlled and the battery life can be extended.

  The travel distance of the load, for example the parallel travel distance, can be monitored for better control. In some cases, one or more sensors may be used to determine translation information, eg, translation distance, direction, or motion. In some cases, information from one or more actuators may be used to determine that information. For example, translation information using the power output to the motor, the power output from the motor, the length of time the motor has been operating, the rotational speed of the motor, and / or the direction of motor rotation that can cause translation. Can be judged. In some cases, the support mechanism may comprise one or more Hall effect sensors for measuring the translation distance of the load relative to the central body. For example, as known to those skilled in the art, Hall sensors may be used in tachometer surveys and counting. Based on the count of rotations performed by the Hall sensor on the motor, the driving distance of the synchronous belt is determined and therefore the travel distance of the load can be obtained. In some other cases, the support mechanism may provide one or more digital calipers to measure the travel distance of the load relative to the central body. The resulting measured distance can be transmitted to the user. In some embodiments, the measured distance is displayed on a display device of the remote controller so that the user can know the movement of the load over time. For example, the measured translation distance may be displayed graphically or visually to the user of the UAV, for example, a trajectory in which the movement of the load is graphically displayed in real time.

  In some embodiments, the payload is allowed to translate vertically by at least 150 mm, and the payload is allowed to translate vertically at a speed of at least 15 mm / sec. obtain.

  When the load reaches the uppermost position of the support mechanism, a corresponding action can be performed. For example, when the mounted object is provided as an image pickup apparatus, as illustrated in FIG. As previously mentioned, the imaging device can rotate around one or more axes of rotation based on the driving force provided by the gimbal via one or more actuators (eg, motors). For example, the imaging device may be capable of rotating about one or more of a pitch axis, a yaw axis, and a roll axis based on actuation of a plurality of actuators. As the imaging device rotates around the yaw axis, the image of the support mechanism enters the viewing angle or view angle of the imaging device, for example, the guide of the support mechanism blocks the viewing angle of the imaging device, Not desirable for shooting. To this end, in some embodiments, the imaging device can rotate around the pitch axis, for example, based on the rotational actuation of the actuator 382, and the support mechanism guides reduce the viewing angle of the imaging device. Can be unobstructed. For example, the imaging device can be inverted relative to the guide of the support mechanism and positioned at the top. It is therefore possible to exclude visual obstacles provided by the support mechanism guide. This inversion operation can be performed in response to detection of an image of the support mechanism at the viewing angle of the imaging device. Alternatively, the reversing operation can be performed automatically once the load reaches the top position of the support mechanism, for example, the upper end of the guide.

  FIG. 8 is a side view of the UAV of FIG. 7 according to an embodiment of the present invention. As shown in FIG. 8, the support mechanism may allow the load to pass through the central body of the UAV and below and above the UAV or UAV propulsion unit. At a given time, the load can pass through the central body of the UAV so that the load is laterally surrounded by the central body. The payload may be surrounded over an angular range of about 360 degrees, or 180 degrees or greater. Once the load reaches the upper position from the lower position, the load may perform the corresponding task. As described above, when the mounted object is an image pickup apparatus, low-angle shooting can be started by rotating upward around the pitch axis. Thereby, it is possible to achieve a shooting angle different from the conventional shooting that can generally perform high-angle shooting. For example, if the imaging target is an enthusiast with a parachute descending in the air, the imaging device may have the enthusiast under the parachute if the UAV is flying underneath the enthusiast. Take a photo or video. In some embodiments, a user holding a remote controller controls the load based on real-time feedback data and adjusts its position while rotating on different axes, e.g., slightly downward It can be moved or moved vertically so that high quality image or video data can be recorded in different views. In some embodiments, the combination or fusion of images acquired by high-angle and low-angle shooting, respectively, yields a panoramic image or image, thereby obtaining a more comprehensive and detailed high-quality image. To do.

  FIG. 9 is a vertical view of the UAV of FIG. 3 according to an embodiment of the present invention. As shown in FIG. 9, an exemplary UAV includes eight propulsion units each disposed in a central body using a respective extending arm or frame assembly. Any number of propulsion units can be provided. The propulsion units can optionally be arranged radially. In some cases, the propulsion unit may be equidistant from the central body. The propulsion units may be supported by frame assemblies that are at the same angle in the transverse direction with respect to each other.

  In addition, two support members for supporting the UAV when the UAV is placed on the ground can also be coupled to the central body. The support member may be a landing stand configured to support the weight of the UAV when the UAV is on the ground. The support member may have a length sufficient to prevent the support mechanism and / or the load from touching the ground when the support member is in a lowered position to support the UAV.

  The support mechanism according to an embodiment of the present invention may be arranged in the central region of the central body. As shown, one, two, or more guides of the support mechanism can be fixed perpendicular to the periphery of the central cavity of the central body and parallel to each other. The mounted object, for example, the imaging device can be supported by a gimbal coupled by a guide of a support mechanism. Therefore, a load according to an embodiment of the present invention may move along the length of the guide with or without rotation. Furthermore, as has been described so far, a terminal, for example a remote controller, may be provided to control the positioning of the load on the UAV accordingly. In some embodiments, the remote controller may include one or more processors configured to generate user control instructions for controlling the UAV as shown in FIGS. User control commands allow load movement, disable load movement, move load in a given direction for a given period, stop load movement, load movement , Resume shooting, stop shooting while moving, and stop, start, or resume shooting within a predetermined distance. The remote controller may further include a communication unit, such as a wireless transceiver, for transmitting user control commands as described above to the UAV. Correspondingly, the UAV includes a communication unit, such as a radio transceiver, for receiving such user control instructions and includes one or more processors for processing the user control instructions, thereby Correspondences such as moving the mount above or below the central body, moving above or below the propulsion unit, moving vertically, moving horizontally, rotating around one or more axes of rotation, etc. Can be performed.

  FIG. 10 shows another example of a UAV 100 comprising a support mechanism according to an embodiment of the present invention.

  As shown in FIG. 10, the UAV 100 is very similar to that shown in FIG. For example, the UAV also includes a central body 101 with a multiplayer structure, one or more propulsion units 102 that propel the UAV to fly in the air, and landing for UAVs that are placed on the surface such as the ground. And two parallel support members 103 having gears 104. The difference between the UAV shown in FIG. 10 and that shown in FIG. 3 is that the support mechanism structure is different. As detailed above with reference to FIGS. 3-9, the UAV described herein includes a support mechanism implemented as a particular form of actuation assembly, primarily based on a synchronous belt, thereby It may allow the load to move freely along the guide of the support mechanism. As an alternative to the synchronization belt, the support mechanism shown in FIG. 10 provides a guide screw assembly as another particular form of actuation assembly that allows the load to move above or below the UAV central body or propulsion unit. Can be driven.

  In particular, the support mechanism 105 herein includes two guides 1051 and 1052 that are substantially parallel to each other, and on one guide, eg, the guide 1051, an actuation assembly such as one or more motors. An actuating assembly, shown as a guide screw assembly 1053 including, is disposed. The gimbal 106 is connected to the guide. For example, one side of the gimbal is connected to a guide (eg, guide 1051) of a support mechanism disposed on the guide screw assembly. The other side of the gimbal is connected to the other guide (eg, guide 1052) of the support mechanism. The mounted object 107 shown as an imaging device such as a camera is connected to a support mechanism, and when the mounted object driven by the gimbal is a three-axis gimbal, the mounted object 1 is 1 around the pitch axis, the roll axis, the yaw axis, and the like. It may be possible to rotate with one or more degrees of freedom.

  FIG. 11 is a front view of the UAV 100 of FIG. 10 according to an embodiment of the present invention. As shown in FIG. 11, in the enclosed area “II”, a camera 107 as an exemplary form of mounting is coupled to the gimbal, which is coupled to the guide screw assembly. Based on the operation of the actuating assembly, the guide screw that can be put into the guide of the support mechanism continues to rotate, thereby driving the gimbal to move vertically along the guide until the desired location is reached. The gimbal movement in the vertical direction may allow the load to also move vertically. Therefore, the load can translate along the guide and therefore move on top of the UAV central body or UAV propulsion unit. Hereinafter, the guide screw assembly shown in the region “II” will be described in detail.

  FIG. 12 is an enlarged view of a region “II” in FIG. As shown, the support mechanism includes two guides 1051 and 1052 that can be provided as two bars or rods. One of the guides, for example, the guide 1051 is provided with a guide screw assembly 1053. Guide 1052 may optionally have a guide screw assembly, or guide 1052 may be connected to the guide screw assembly. The guide screw assembly may include an actuator 1054, eg, a motor, to drive the first gear element 1055. The motor as described herein may be provided as any suitable motor, such as a DC motor (eg, brushed or brushless) or an AC motor. In some cases, the motor may be adapted to mount one or more gear elements and drive them to rotate. A second gear element 1057 can be applied to move the guide screw rod 1056. The second gear element is fixed to the guide screw rod and may engage the first gear element by its thread. In some cases, the second gear element can be coupled to the guide screw rod by welding, riveting, or the like. The second gear element and the guide screw rod can be integrally formed. In order to connect the gimbal to the UAV, the support mechanism may further include a first connection element 1058 and a second connection element 1059. The first connecting element may have two working surfaces, one of which is slidably connected to the guide 1052 by one or more protrusions, and the other of which is rotatable to the gimbal. Can be connected to. The one or more protrusions herein may be one or more tabs, one or more sliding blocks, or one or more pulleys that may fit into the inner rim of the guide 1052. The second connecting element 1059 may also have two working surfaces, one of which is slidably connected to the guide 1051 (in particular the guide screw rod 1056) and the other of which is a gimbal. Can be connected rotatably. In some embodiments, the second connecting element has a thread that can correspond to a thread on the surface of the guide screw rod, and the second connecting element can be threaded into the guide screw rod. In some embodiments, there may be one or more teeth on the working surface of the second connecting element that can engage threads on the guide screw rod. The first and second connecting elements as described herein may be connected to the respective frame assembly of the gimbal so that the frame assembly can rotate relative to the guide of the support mechanism. Alternatively or in combination, the guide screw arrangements described herein may include one or more mounting structures coupled to the guide screw rod, and these mounting structures may be, for example, machine Configured to securely couple the gimbal to the support mechanism by a conventional fastener, adhesive, or one or more intermeshing connections.

  When actuating assemblies are provided on a plurality of guides, these actuating assemblies move synchronously at both ends of the load at the same speed. For example, both the first guide and the second guide have actuators that operate at the same speed to drive the guide screw rod at the same speed and direction, thereby being supported by both guides. An object may allow the guide to move without substantially rotating due to the guide.

  Based on the various connections described above, during operation, the actuating assembly (eg, motor) of the support mechanism may be actuated to rotate the guide screw rod. As the guide screw rod rotates, the first and second connecting elements can move the gimbal back and forth, for example, from a location below the center body of the UAV to a location above the center body. In some embodiments, the gimbal may be translated to pass through the cavity of the central body and reach the opposite end of the guide. Therefore, the load can perform multi-angle shooting when coupled to the gimbal and incorporated as an imaging device. For example, when the imaging device is below the central body of the UAV, high-angle shooting can be performed. When the imaging device is translated above the central body of the UAV, low-angle shooting can be performed. In this way, there is no visual interference from the UAV central body or propulsion unit. This is because the interference can be overcome by the free movement of the load. In addition, since the gimbal may allow the load to rotate about one or more axes of rotation, the movement of the load is more flexible in multiple directions. In some embodiments, one, two, three, or more loads may be able to move the support mechanism. The load can move the support mechanism at the same time. The loads may or may not pass each other along the support mechanism.

  13 is a side view of the UAV of FIG. 11 with the load in the bottom position, according to an embodiment of the present invention. As shown in FIG. 13, a gimbal actuation assembly 1301 (eg, a motor) is coupled to a load, eg, an imaging device. Therefore, the imaging device can be rotated about the roll axis based on actuation from the actuation assembly. While the imaging device is below the central body and the propulsion unit of the UAV, the imaging apparatus can perform low-angle shooting without being blocked by the central body or the propulsion unit. However, it is not ideal for the imaging apparatus to perform high-angle shooting. Because when the imaging device is aimed upwards, especially when the rotation about the pitch axis of the imaging device driven by the gimbal reaches a certain degree, the image of the central body or the propulsion unit is an optical view of the imaging device. This is because it may appear in the viewfinder. For this purpose, a support mechanism according to an embodiment of the present invention moves the load upward, eg above the central body of the UAV or the propulsion unit, via a guide screw assembly as described herein. Can make it possible. Therefore, the low angle shooting performed by the load is unobstructed and can be used to supplement the high angle shooting as performed when the load is below the central body of the UAV. . The load can move above or below the central body as needed to collect unobstructed images or other data. The combination or fusion of images acquired by high angle shooting and low angle shooting, respectively, produces a panoramic image or image, thereby obtaining a more comprehensive and detailed high quality image.

  14 is a front view of the UAV of FIG. 11 with the load in the uppermost position, according to an embodiment of the present invention.

  The load supported by the support mechanism is coupled to the gimbal and moves vertically along the guide until it is at or near the upper end of the guide screw. The load can be moved by an actuation assembly such as a guide screw. As used herein, the translation from the bottom end of the guide to the top end of the guide can be configured by considering a number of factors. In some embodiments, the user is given several options to configure one or more translation directions and one or more translation distances whether to disable or disable translation. Can be. Further, the user may choose to configure both the translation option and the shooting option together. These configurations are pre-determined or preset according to user preferences or application conditions and are displayed on the load, placed on the control panel of the UAV, or visually displayed on the remote controller Can be implemented. In some embodiments, some or all of these configurations may remain valid until a change or correction is made to the current configuration without repeated user input.

  Options may be selected that may allow for translation of the load. In such situations, the load can be moved along the guide of the support mechanism. This can occur in response to user commands or can occur automatically. In some cases, the load may move at a given time (eg, 4:00 PM or any other specified time), or after a given period (eg, a UAV has been launched into the air) 1 or 2 minutes later). The payload can move along the guide according to a given motion schedule for the camera. A schedule can be provided in terms of absolute time or in terms of UAV activity, eg, switching on or taking off. In some cases, the load may move in response to an environment, UAV, support mechanism, or a detected condition of the load. For example, the load can begin to move on the bottom side of the support mechanism. The UAV sensor can detect the motion that occurs above the UAV. The camera moves above the central body of the UAV so that what is causing motion on the upper side of the UAV looks better.

  Options can be selected that can override the translation of the load. By disabling the translation of the load, the load may be prevented from moving along the guide during UAV operation and / or during UAV flight. In some cases, automatic translation of the UAV may not occur. In some embodiments, user input that results in translation of the load may be overridden or ignored. Therefore, even though the user provides input for translating the load via the remote control, the load may not be translated when translation is disabled. This may or may not be used in combination with the ineffective rotation of the load. In some cases, the translation of the load is disabled, but the rotation of the load may be enabled. For example, user input to control rotation can be enabled, or automatic rotation can occur. In other cases, the rotation of the load may be automatically disabled by disabling translation. This may be referred to as invalidation of all movement of the load relative to the UAV. Alternatively, the option to disable or not disable UAV rotation can be selected simultaneously. In some cases, the reverse can also occur. For example, the rotation of the load may be disabled, but the translation of the load may be enabled.

  Enabling and / or disabling the translation of the load may occur in response to a user command. In some cases, user instructions are provided prior to the flight of the UAV. In some cases, this may prevent the user from changing the translation settings for the load during UAV flight. Alternatively, the instructions can be provided during UAV flight. The instructions can come from the user via a remote controller. In some cases, the instructions can be provided directly in the UAV, manually by the user. When instructions are provided in the UAV, the user may or may not be able to provide subsequent instructions via the remote controller. In some cases, if translation override is selected during flight, the load can temporarily stop and remain in its current position until further user control commands are received. This may be advantageous if the current location is known to be a very good location for some magnificent view shots. As described above, invalidity can refer to translation only, rotation only, or both translation and rotation.

  In some embodiments, the range and / or direction of movement of the load can be preset or limited. For example, the user may provide an input that allows only an upward movement of the load or a downward movement of the load. The user may provide input that limits the distance that the load can move along the support mechanism. The user may also provide input (eg, an upper limit and / or a lower limit) that limits the locations where the load can move along the support mechanism.

  In order to better control the load, in some embodiments, the shooting or photographic operation as performed by the load may be predetermined or pre-set before or during the flight. For example, the user may configure the imaging device as a particular type of load that continues to shoot while moving in parallel. On the other hand, the user can configure the imaging device not to shoot during translation. In some cases, the user can configure the imaging device to continue shooting within a certain translational distance. In contrast, the user may configure the imaging device to not shoot (ie, stop shooting) within a certain translational distance. Whether the mounted device is operating is determined by the parallel movement distance, the speed of the parallel movement, the parallel movement acceleration, the parallel movement distance, the detected environment condition, the detected UAV condition, the detected support mechanism condition, It may depend on the status of the load, user instructions, and / or any other factors. In this way, the shooting operation can be flexibly controlled and battery life can be extended.

  The travel distance, such as the parallel travel distance of the load, can be monitored for better control. This can be done using one or more sensors. In some cases, one or more sensors may be used to determine translation information, eg, translation distance, direction, or movement. In some cases, information from one or more actuators may be used to determine that information. For example, the translation information may be determined using the output to the motor, the output from the motor, the length of time the motor is operating, the rotational speed of the motor, and / or the direction of rotation of the motor that may cause translation. In some cases, the support mechanism may include one or more Hall sensors for measuring the translation distance of the load relative to the central body. For example, as known to those skilled in the art, Hall sensors can be used in tachometer surveys and counting. Based on the count of rotations performed by the Hall sensor on the motor, the operating distance of the guide screw rod is determined and thus the travel distance of the load can be obtained. In some other cases, the support mechanism may provide one or more digital calipers to measure the travel distance of the load relative to the central body. The resulting measured distance is transmitted to the user in real time or near real time. In some embodiments, the measured distance is displayed on the display of the remote controller so that the user can know the movement status of the load very quickly. For example, the measured translation distance may be displayed graphically or visually to the user of the UAV, for example, a trajectory in which the movement of the load is graphically displayed in real time.

  In some embodiments, the order of rotation of the load device is the rotation of the load device under the original operating environment of the load device, for example, without causing a “gimbal lock” problem when facing down. Selected to allow. For example, in one embodiment, the rotation order may be pitch, roll, and yaw from the innermost to the outermost axis of rotation. In another embodiment, the rotation order may be pitch, roll and yaw from the outermost to the innermost axis of rotation. Any rotation order of the load device (eg, pitch / yaw / roll, roll / pitch / yaw, roll / yaw / pitch, from outermost to innermost rotation axis, or from innermost to outermost rotation axis, Yaw / roll / pitch, or yaw / pitch / roll) may be considered.

  15 is a side view of the UAV of FIG. 11 according to an embodiment of the present invention. As shown in FIG. 15, the support mechanism including the guide screw rod allows the load to pass to the UAV center body and below and above the UAV or UAV propulsion unit. The load can pass through the central body of the UAV so that the load is laterally surrounded by the central body at a given time. The load can be surrounded over an angular range of about 360 degrees, or 180 degrees or more. Once the load reaches the upper position from the lower position, the load may perform the corresponding task. As described above, when the mounted object is an imaging device, low-angle imaging can be performed by rotating upward around the pitch axis. Thereby, it is possible to achieve a shooting angle different from the conventional shooting that generally performs high-angle shooting. For example, if the imaging target is an enthusiast with a parachute descending in the air, the imaging device may have the enthusiast under the parachute if the UAV is flying underneath the enthusiast. Take a photo or video. In some embodiments, based on real-time feedback data or near real-time feedback data, users, including enthusiasts with parachute descents in question, can use the remote controller to control the position of the load, For example, it may move a little downward while rotating around different axes, or move vertically, thereby recording image or video data at different viewing angles. In some embodiments, the combination or fusion of images acquired by high-angle and low-angle shooting, respectively, yields a panoramic image or image, thereby obtaining a more comprehensive and detailed high-quality image. Can do.

  When the load reaches the uppermost position of the support mechanism, a corresponding action can be performed. For example, when the mounted object is an imaging device, a photographing operation or a photographing operation can be executed. As previously mentioned, the imaging device may rotate around one or more axes of rotation based on the driving force provided by the gimbal via one or more actuators (eg, motors). For example, based on actuation of a plurality of actuators, the imaging device can rotate about one or more of a pitch axis, a yaw axis, and a roll axis. When the imaging device rotates around the yaw axis, the image of the support mechanism may fall within the viewing angle of the imaging device, for example, the support mechanism guide blocks the viewing angle of the imaging device, which is desirable for imaging. Absent. To this end, in some embodiments, the imaging device rotates about the pitch axis based on, for example, rotational actuation of the actuator 382 so that the support mechanism guides do not block the viewing angle of the imaging device. obtain. For example, the imaging device can be inverted relative to the guide of the support mechanism so that it can be positioned on top. It is therefore possible to exclude visual obstacles provided by the support mechanism guide. For example, when panoramic photography is desired, the imaging device in this uppermost position can perform 360 degree photography, or more lateral photography, without any obstacles. This inversion operation can be performed in response to detection of an image of the support mechanism at the viewing angle of the imaging device. Alternatively, the reversing operation can be performed automatically once the load reaches the uppermost position of the support mechanism, for example the upper end of the guide.

  FIG. 16 is a vertical view of the UAV of FIG. 11 according to an embodiment of the present invention. As shown in FIG. 16, the exemplary UAV includes eight propulsion units that are each disposed in the central body using respective extending arms or frame assemblies. Any number of propulsion units can be provided. The propulsion units can optionally be arranged radially. In some cases, the propulsion unit may be equidistant from the central body. The propulsion units may be supported by frame assemblies that are at the same angle in the transverse direction with respect to each other. In addition, two support members are also coupled to the central body to support the UAV when placed on the ground. In some embodiments, when the UAV is flying in the air, the two support members are retracted, providing more operating space for the UAV. The support member may be a landing stand configured to support the weight of the UAV when the UAV is on the ground. The support member may have a length sufficient to prevent the support mechanism and / or the load from contacting the ground when the support member is in a lowered position to support the UAV. The support mechanism according to an embodiment of the present invention may be arranged in the central region of the central body. As shown, one, two or more guides of the support mechanism are fixed perpendicularly and parallel to each other around the central cavity of the central body. A load, such as an imaging device, can be carried by a gimbal coupled to a guide of the support mechanism. Therefore, the load can move along the length of the guide with or without rotation.

  Furthermore, as described above, a terminal, eg, a remote controller, may be provided to control the positioning of the load on the UAV accordingly. In some embodiments, the remote controller may include one or more processors configured to generate user control instructions for controlling the UAV, as shown in FIGS. User control commands allow load movement, disable load movement, move load in a given direction for a given period, stop load movement, load movement Resuming, stopping while shooting, and stopping, starting, or resuming shooting within a predetermined distance. The remote controller may further include a wireless transceiver for transmitting user control commands to a communication unit, eg, a UAV as described above. Correspondingly, the UAV includes a communication unit, eg, a wireless transceiver for receiving such user control instructions, and includes and thereby includes one or more processors for processing the user control instructions. Movement of the main body upward or downward, propulsion unit upward or downward movement, vertical movement, horizontal movement, rotation around one or more rotation axes, etc. Corresponding operations may be performed. In some embodiments, the user may configure the imaging device to perform or not perform imaging while moving. For example, the user may configure the imaging device to perform shooting via a touch-sensitive screen on the remote controller while the support mechanism allows the imaging device to move. Furthermore, the user can also configure the imaging device to stop shooting when moving. In this way, images or videos that include the central body or propulsion unit (eg, blades) can be eliminated. Furthermore, whether to perform shooting within a certain distance of movement can also be predetermined or configured. For example, if a minimum range of motion that is unlikely to be taken is determined, the load is not allowed to perform the shot once it has entered this range. As used herein, this range may be the distance from a certain location on the lower guide of the central body to a certain location on the upper guide of the central body. In some embodiments, as used herein, this range may be the distance from a certain location on the lower guide of the propulsion unit to a certain location on the upper guide of the propulsion unit. As used herein, this range may further be the distance from a certain location on the guide to the bottom end of the guide, or the distance from a certain location on the guide to the top end of the guide. When the payload moves within this range, it is allowed to perform shooting. This is because the UAV's central body or propulsion unit may not block its angle of view to a certain extent.

  FIG. 17 is a flowchart illustrating a method for controlling the positioning of a load according to an embodiment of the present invention. As shown in FIG. 17, the method 1700 may include supporting a support mechanism on a central body of the UAV at 1701. Herein, the UAV may be as shown in FIGS. The method 1700 also includes, at 1702, operating one or more propulsion units to propel the UAV in the air. One or more propulsion units may each be disposed on the central body by one or more frame assemblies or arms extending from the central body. The method 1700 may further include supporting a load using a support mechanism at 1703. The method 1700 may further include, at 1704, activating the support mechanism to allow the support mechanism to translate relative to the central body.

  In some embodiments, the support mechanism can be configured to allow the load to move above and below the central body. In addition or alternatively, the support mechanism is configured to allow the load to move above and below the propulsion unit or units. The direction that may allow the support mechanism to translate the load may be horizontal or vertical with respect to the central body. When moving vertically, the payload may translate above and / or below the central body or any other component of the UAV. When moving horizontally, the payload may be to the right and / or left of the central body or any other component of the UAV, in front of and / or behind the central body or any other component of the UAV, or the central body. Or it can translate to any first side and / or opposite second side of any other component of the UAV. When moving horizontally, the load can remain on the top side of the central body or any other component of the UAV or below the central body or any other component of the UAV. The load may also be able to rotate around one or more axes of rotation using a gimbal assembly. Therefore, the support mechanism may allow the load to translate vertically while allowing the load to rotate. The support mechanism may allow the load to translate vertically without requiring the load to rotate at all. That is, whether the load is allowed to rotate can be configured flexibly. In some embodiments, the support mechanism allows the load to translate vertically while allowing translation in the horizontal direction or without having to translate in the horizontal direction at all. obtain. The support mechanism herein may include one or more actuators, and the support mechanism allows the load to translate vertically in response to actuation of at least one actuator of the support mechanism. To.

  The support mechanism according to embodiments of the present invention can be implemented in many forms as long as the support mechanism can move the load in a desired direction. In some embodiments, the support mechanism may include at least one vertical rod that passes through the central body of the UAV. Alternatively, the support mechanism may include at least two vertical rods that are substantially parallel to each other and pass through the central body of the UAV.

  In order to drive the load to move above or below the UAV central body or propulsion unit, the support mechanism is at least one actuation arranged on at least one vertical rod that can pass through the UAV central body. An assembly may be included.

  At least one actuation assembly as described herein may include at least one motor and its location can be flexibly selected. For example, the at least one motor can be positioned above or below the central body. In some embodiments, the at least one actuation assembly may include a guide screw, as exemplarily shown in the UAV of FIGS. 10-16, and the guide screw is disposed on the at least one vertical rod, and Engaging with the load causes at least one motor to drive the guide screw to translate the load relative to the central body. In some embodiments, at least one actuation assembly may include a synchronization belt, and the synchronization belt is disposed and mounted on at least one vertical rod, as exemplarily shown in the UAVs of FIGS. By connecting to the object, at least one motor drives a synchronous belt to translate the mounted object relative to the central body. Alternatively, the at least one actuation assembly may include a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the load so that at least one motor drives the steel wire rope. Thus, the load is moved in parallel with respect to the central body.

  As used herein, a load can be any suitable load that can be coupled to a UAV and perform a corresponding task. In some embodiments, the mount may be an imaging device and the support mechanism includes a gimbal coupled to the imaging device, and the method further rotates the imaging device about one or more axes of rotation. A step of configuring the gimbal as described above. In other words, the gimbal can actuate the imaging device to rotate in various directions while the imaging device is moving.

  Depending on the different configurations, the method may include the step of operating the imaging device to continue to shoot while translating. Further, the method may include operating the imaging device to stop shooting while translating. In some embodiments, in order to more precisely or accurately control the operation of the imaging device, the method further comprises operating the imaging device to continue shooting within a certain translation distance, or The method may include the step of operating the imaging device to stop shooting within the translation distance.

  Since the imaging device can move freely above or below the central body of the UAV, the method further operates the imaging device to perform high angle shooting at the bottom end of the support mechanism relative to the central body. And operating the imaging device to perform low-angle shooting at the upper end of the support mechanism relative to the central body. Therefore, the imaging device can perform multi-angle shooting, and images taken on the upper side of the central body and the lower side of the central body are combined or fused to form a clearer detailed panoramic image. Can do.

  The method may further include predetermining a translation distance of the load relative to the central body. Therefore, the load can move along the guide by a corresponding distance according to a pre-configuration. In some embodiments, the method may further include applying one or more sensors or assemblies to measure the translation distance of the mount relative to the central body. These one or more sensors or assemblies may include one or more hall sensors or one or more digital calipers. Thereby, the user can be informed of the current location of the load with respect to the central body. For example, the method may include the step of visually displaying the measured translation distance to the user.

  For this purpose, the user uses the remote controller to receive feedback data such as current location, translation direction, distance traveled, etc., and when the feedback data is received, the user makes a corresponding adjustment. It can be judged. For example, the user may instruct the load whether it can move further vertically to perform low-angle shooting. Again, the user can also instruct the load to move no further. This is because the power supply is in a low state. Communication between the load and the user can be done in many suitable ways. For example, the UAV and the remote controller may each have a communication unit, and these communication units may be used as transceivers to establish wireless communication between the UAV and the remote controller, and bidirectional Communication can be performed.

  FIG. 18 is a flowchart illustrating another method 1800 for controlling the positioning of a load according to an embodiment of the present invention.

  As shown in FIG. 18, the method 1800 may include supporting a support mechanism on the central body of the UAV at 1801. The method 1800 may also include, at 1802, operating one or more propulsion units to propel the UAV in the air. The method 1800 further includes supporting the load using a support mechanism at 1803 and further actuating the support mechanism at 1804 to allow the load to pass through the central body. The step of allowing. As used herein, UVA may refer to that illustrated in the accompanying drawings.

  According to different arrangements and configurations, the support mechanism can be configured to cause the load to perform different movements. For example, in some embodiments, the support mechanism can be configured to allow the load to pass vertically through the central body. Further, the support mechanism can be configured to allow the load to pass vertically through the central body without having to rotate the load at all. Alternatively, the support mechanism can be configured to allow the load to rotate while allowing the load to pass vertically through the central body. Furthermore, the support mechanism is configured to allow the load to pass vertically through the central body without requiring any translation in the horizontal direction or allowing movement in the horizontal direction. obtain. When moving vertically, the payload may translate above and / or below the central body or any other component of the UAV. When moving horizontally, the load will be to the right and / or left of the central body or any other component of the UAV, before and / or behind the central body or any other component of the UAV, or the central body. Or it may translate to the first side and / or the opposing second side of any other component of the UAV. When moving horizontally, the load may stay on the upper side of the central body or any other component of the UAV, or below the central body or any other component of the UAV. It should be understood that a load according to an embodiment of the present invention can move flexibly.

  The support mechanism allows the load to pass vertically through the central body in response to actuation of at least one actuator of the support mechanism. In some embodiments, the support mechanism may include at least one vertical rod that can pass through the central body of the UAV, as exemplarily shown in FIGS. Alternatively and additionally, the support mechanism may include at least two vertical rods that are substantially parallel to each other passing through the central body of the UAV.

  In order to actuate the load to move across the central body of the UAV, the support mechanism includes at least one actuating assembly disposed on at least one vertical rod, and the at least one actuating assembly comprises at least one actuating assembly. A motor may be included. The location of the at least one motor can be suitably selected. For example, at least one motor is positioned above or below the central body.

  In order to facilitate smooth movement of the load relative to the central body, in some embodiments, the at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod. And by engaging the load, at least one motor may drive the guide screw to move the load relative to the central body. In some embodiments, the at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and connected to the load so that the at least one motor drives the synchronization belt. Thus, the load can be moved with respect to the central body. Alternatively and in addition, the at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the load so that at least one motor is steel. The wire rope may be driven to move the load relative to the central body.

  As used herein, a load can be any desired load coupled to a UAV and capable of performing various tasks. In some embodiments, the payload may be an imaging device, and the support mechanism includes a gimbal coupled to the imaging device, and the method further includes moving the imaging device around one or more axes of rotation. Configuring the gimbal to rotate may be included. In this way, in addition to vertical or horizontal movement, the load can be rotatable about any of the roll, pitch, and yaw axes.

  In some embodiments, the method may include operating the imaging device to continue shooting while moving. The method may also include operating the imaging device to stop shooting while moving. For example, to save power, shooting can be temporarily interrupted while moving and resumed after reaching the desired location, for example, the upper end of the upper guide of the central body. In some embodiments, the method may further include operating the imaging device to continue shooting within a certain distance of travel. The method may further include operating the imaging device to stop shooting within a certain distance of travel. The travel distance can be configured according to user preferences or experimental data. For example, the travel distance can be from the bottom end of the guide to a location where an image of the central body or propulsion unit can appear in the viewfinder of the imaging device. The distance traveled by the imaging device relative to the central body of the UAV can be measured by one or more sensors or assemblies. The one or more sensors may include one or more hall sensors. Alternatively and additionally, one or more digital calipers can be applied to measure the distance traveled by the imaging device. In some embodiments, the measured travel distance can be returned to the user. For this purpose, the UAV may include one or more processors and a communication unit that may serve as a wireless transceiver. The communication unit may send the measured travel distance to a remote controller held by the user. Upon receiving the measured travel distance, the user can know the movement of the imaging device in real time and make corresponding adjustments.

  The method further includes operating the imaging device to perform high-angle shooting at the bottom end of the support mechanism with respect to the central body, and performing low-angle shooting with respect to the central body at the upper end of the support mechanism. Operating the imaging device to perform. In this way, panoramic images are obtained by combining or merging different images recorded in any of the different views.

  FIG. 19 is a flowchart illustrating a further method 1900 for controlling the positioning of a load according to an embodiment of the present invention.

  As shown in FIG. 19, the method 1900 may include providing one or more guides at 1901. The method 1900 may also include, at 1902, configuring the first actuator to allow the load to translate relative to the one or more guides. The method 1900 further includes, at 1903, configuring the second actuator to allow the load to rotate about one or more rotation axes relative to the one or more guides. obtain.

  In some embodiments, the one or more guides may be one or more bars that may be oriented vertically or horizontally. The first actuator may be configured to allow the load to translate horizontally or vertically relative to the one or more guides. According to a different configuration and arrangement, the first actuator may allow the load to translate in the vertical direction without any rotation of the load by the second actuator, or the first actuator The actuator may allow the load to translate vertically, while the second actuator allows the load to rotate. Alternatively and in addition, the first actuator may allow the load to translate in the vertical direction without having to translate in the horizontal direction at all. Further, the first actuator may allow the load to translate in the vertical direction while allowing translation in the horizontal direction.

  The method can include providing at least one vertical guide that can pass through the central body of the UAV. Further, the method can include providing at least two vertical guides that are substantially parallel to each other and that can pass through the central body of the UAV. In order to allow the load to move, the method may include disposing a first actuator in at least one vertical guide. The first actuator may include at least one motor positioned above or below the central body of the UAV. In some embodiments, the first actuator may include a guide screw, and the guide screw is disposed in at least one vertical guide and engages the load so that the at least one motor is guided by the guide screw. To move the mounted object in parallel. In some embodiments, the first actuator may include a synchronization belt, and the synchronization belt is disposed in at least one vertical guide and connected to the load so that at least one motor has the synchronization belt. It can be driven to translate the load. In addition or alternatively, the first actuator may include a steel wire, and the steel wire rope is disposed in at least one vertical guide and connected to the load so that the at least one motor is steel. The line can be driven to translate the load.

  The method includes configuring the second actuator to include a gimbal coupled to the mount, and the mount rotates about one or more rotation axes relative to the one or more guides. And configuring the gimbal to enable. For example, the gimbal can be a three-axis gimbal and the load can be an imaging device. During translation, the imaging device can be configured accordingly. In some embodiments, the imaging device may be configured to continue shooting while translating. In some other embodiments, the imaging device may be configured to stop shooting while translating. In order to more precisely control the imaging operation of the imaging device, in some embodiments, the imaging device may be configured to continue shooting within a certain translation distance, or within a certain translation distance. It may be configured to stop shooting.

  Based on the movement, the imaging device can perform high-angle shooting at the bottom end of the support mechanism with respect to the central body, and low-angle shooting with respect to the central body at the upper end of the support mechanism. In this way, different images and video data can be taken from different viewpoints from the imaging device.

  The method may include pre-determining the translation distance of the load relative to the one or more guides. For example, according to user preferences or experimental data, the user may be configured to move the load along the guide to one or more desired locations. One or more desired locations may be locations that are good for imaging or that make the load easy to stabilize.

  In order to better control the distance traveled by the load relative to one or more guides, in some embodiments, the method includes one or more sensors or measurement assemblies, eg, one or more Hall sensors. Or using one or more digital calipers to measure the translational distance of the load relative to the one or more guides. The measured translation distance can be sent to the user, for example, to a remote controller held by the user. This can be done via the respective transceivers of the UAV and the remote controller. Upon receiving the measured distance, the user knows the current location of the load and can make corresponding adjustments, for example, command the load to continue moving or stop the load. . In some embodiments, the user may simply monitor the movement of the load until the load reaches the desired location without further involvement. In order to better control the movement, the method may configure the control system mounted on the UAV to control the translation distance of the load in response to, for example, a translation command from a remote controller. . The translation command can be automatically generated based on processing performed by one or more processors embedded in the remote controller. For example, one or more processors may monitor the real-time movement of the load and, if necessary, send translation commands to the UAV. Translation commands can also be generated based on user input. For example, the user may enter a user command using a display device on the remote controller, and then the command may be sent to the UAV via the communication unit of the remote controller. As used herein, input techniques may be for illustrative purposes only and existing or future developed input techniques may be applicable to embodiments of the present invention.

  FIG. 20 illustrates a movable object 200 according to an embodiment of the present invention. Although movable object 200 is shown as an aircraft, this description is for purposes of illustration only, and any suitable type of movable object as previously described herein may be used. As mentioned above, any description herein of UAV is applicable to any type of movable object, and vice versa.

  As shown, the movable object may be configured to support a load 201 that is coupled to the movable object via a support mechanism 202 as described above in accordance with embodiments of the present invention. The load may include one or more of passengers, cargo, equipment, equipment, and the like. A load may be provided in the housing. The housing may be separate from the housing for the movable object or may be part of the housing for the movable object. Alternatively, the load may comprise a housing while the movable object does not have a housing. Alternatively, a plurality of parts of the load or the entire load are provided without a housing. The load can be firmly fixed with respect to the movable object. Optionally, the load can be movable relative to the movable object (eg, translatable or rotatable relative to the movable object).

  In some embodiments, the load includes a load. The load may be configured not to perform any operation or function. Alternatively, the load may be a load configured to perform an action or function, also known as a functional load. For example, the load may include one or more sensors for investigating one or more targets. Any suitable sensor such as an imaging device (eg, camera), audio capture device (eg, parabolic microphone), infrared imaging device, or ultraviolet imaging device may be incorporated into the load. The sensor may provide static sensing data (eg, photographs) or dynamic sensing data (eg, video). In some embodiments, the sensor may provide sensing data to a load target. Alternatively or in combination, the payload may include one or more emitters for providing a signal to one or more targets. Any suitable emitter, such as an illumination light source or a sound source, can be used. In some embodiments, the payload includes one or more transceivers, such as to communicate with a module remote from the movable object. Optionally, the load can be configured to interact with the environment or target. For example, a load can include a tool, instrument, or mechanism that can manipulate an object, such as a robot arm.

  In some cases, the load may include a secondary support mechanism 203. A secondary support mechanism is provided on the load, and the load can be coupled to the support mechanism via the secondary support mechanism. Conversely, the load can be attached to a movable object without the need for a secondary support mechanism. In some embodiments, the load can be formed integrally with the secondary support mechanism. Alternatively, the load can be releasably or removably coupled to the secondary support mechanism. In some embodiments, the load may include one or more load elements, and one or more of the load elements may be movable relative to the movable object and / or the support mechanism. .

  The support mechanism can be formed integrally with the movable object. Alternatively, the support mechanism can be releasably coupled to the movable object. The support mechanism may be directly or indirectly coupled to the movable object. The support mechanism may provide support to the secondary support mechanism and the load (eg, support at least a portion of the weight of the load and the secondary support mechanism). The support mechanism may include a suitable mounting structure (eg, a synchronization belt, a guide screw or a steel wire rope) for connection to the secondary support mechanism. The secondary support mechanism may also include a suitable mounting structure (eg, a gimbal platform) that can stabilize and / or direct the movement of the load. In this case, the secondary support mechanism may be provided as a gimbal or a gimbal assembly. In some embodiments, the secondary support mechanism may be adapted to control various states (eg, position and / or orientation) of the load relative to the movable object. For example, a support mechanism (eg, a gimbal) is configured to move relative to a movable object (eg, with respect to 1, 2, or 3 degrees of freedom translation and / or 1, 2, or 3 degrees of freedom rotation). The load may maintain its position and / or orientation with respect to a suitable reference system despite the moving object moving. The reference system may be a fixed reference system (eg, the ambient environment). Alternatively, the reference system may be a movable reference system (eg, a movable object, a load target, a central body of the movable object, one or more propulsion units of the movable object).

  In some embodiments, the support mechanism may be configured to allow the load to translate relative to the central body of the movable object. The support mechanism may also be configured to allow the load to move above or below the central body of the movable object or the propulsion unit of the movable object. As described above with reference to FIGS. 1-19, the support mechanism may include at least one guide that may be provided as a rod or bar. One or more actuation assemblies, eg, motors, are disposed on the guide and actuate the load to move along the guide so that the load passes through the central body of the movable object or the center of the movable object. It may be translated with respect to the main body or the propulsion unit.

  To further improve the mobility and maneuverability of the load, the secondary support mechanism may be configured to allow movement of the load relative to the secondary support mechanism and / or the movable object. As used herein, motion is translation up to 3 degrees of freedom (eg, along 1, 2, or 3 axes) or up to 3 degrees of freedom (eg, around 1, 2, or 3 axes). Rotation, or any suitable combination thereof.

  In some cases, the secondary support mechanism may include a frame assembly and an actuation assembly. The frame assembly may provide structural support for the mounting. The frame assembly may include individual frame components, some of which may be movable relative to each other. The actuation assembly may include one or more actuators (eg, motors) that actuate the movement of individual frame components. The actuator may allow movement of multiple frame components at the same time, or may be configured to allow movement of one frame component at a time. The movement of the frame components can cause a corresponding movement of the load. For example, the actuation assembly may actuate rotation of one or more frame components around one or more rotational axes (eg, roll axis, pitch axis, or yaw axis). One or more frame components rotate to rotate the load about one or more axes of rotation relative to the movable object. Alternatively or in combination, the actuating assembly actuates the translation of one or more frame components along one or more translation axes, thereby providing one or more responses to the movable object. Can cause translation of the load along the axis.

  In some cases, the load can be provided on the movable object without the need for a secondary support mechanism. The movable object may include a propulsion mechanism, a detection system, and a communication system. As already described herein, the propulsion mechanism may include one or more of a rotor, propeller, blade, engine, motor, wheel, axle, magnet, or nozzle. The movable object may have one or more, more than two, more than three, or more than four propulsion mechanisms. The propulsion mechanisms can all be the same type. Alternatively, the one or more propulsion mechanisms may be different types of propulsion mechanisms. In some embodiments, the propulsion mechanism does not require any horizontal movement of the movable object (eg, without traveling on the runway), so that the movable object can take off from the surface or land perpendicularly to the surface. Can be. Optionally, the propulsion mechanism may be operable to allow a movable object to hover in the air at a specified position and / or orientation.

  For example, the movable object may have a plurality of horizontally oriented rotors that may generate lift and / or thrust on the movable object. A plurality of horizontally oriented rotors may be operated to provide a movable object with vertical take-off capability, vertical landing capability, and hover capability. In some embodiments, one or more of the horizontally oriented rotors may rotate in a clockwise direction, while one or more of the horizontal rotors rotate in a counterclockwise direction. obtain. For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. The rotational speed of each horizontally oriented rotor is varied independently to control the lift and / or thrust generated by each rotor, so that the spatial arrangement, speed, and / or acceleration of the moving object Can be adjusted (eg for translation up to 3 degrees of freedom and rotation up to 3 degrees of freedom).

  One skilled in the art will recognize that any of the embodiments described herein in connection with an airplane system can be applied to any suitable movable object (eg, UAV). A UAV may include a propulsion system having one or more rotors. Any number of rotors may be provided (eg, 1, 2, 3, 4, 5, 6, or more). The rotor or other propulsion system of the UAV may allow the UAV to hover / maintain position, change orientation, and / or change location. The distance between the shafts of the opposing rotors can be any suitable length. For example, the length can be 2 m or less, or 5 m or less. In some embodiments, the length may be in the range of 40 cm to 7 m, 70 cm to 2 m, or 5 cm to 5 m. Any description herein of UAV may be applied to movable objects, eg, different types of movable objects, and vice versa.

  The sensing system can include one or more sensors that can sense the spatial arrangement, velocity, and / or acceleration of a movable object (eg, for translation up to 3 degrees of freedom and rotation up to 3 degrees of freedom). . In addition, one or more sensors may be used to detect and measure the travel distance of the load relative to the central body or propulsion unit of the UAV, eg, one or more hall sensors or digital calipers. Further, the one or more sensors may include a global positioning system (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. Using sensing data provided by the sensing system, the spatial arrangement, velocity, and / or orientation of the movable object (eg, using a suitable processing unit and / or control module as described below), In addition, the moving direction and moving distance of the load can be controlled. Alternatively, the sensing system may be used to provide data regarding the environment surrounding the movable object, such as weather conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, and the like.

  The communication system may allow communication with a terminal 212 having a communication system 214 via a wireless signal 216.

  In some embodiments, the movement of movable objects, support mechanisms, and loads relative to each other with respect to a fixed reference system (eg, the ambient environment) and / or each other can be controlled by the terminal. The terminal may be a movable object, a support mechanism, a secondary support mechanism, and / or a remote control device at a location remote from the load. The terminal may be placed or attached to the support platform. Alternatively, the terminal may be a handheld or wearable device. For example, the terminal may include a smartphone, tablet, laptop, computer, glasses, gloves, helmet, microphone, or a suitable combination thereof. The terminal may include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input such as manually entered commands, voice control, gesture control, or position control (eg, by terminal movement, location or tilt) can be used to interact with the terminal.

  The terminal may be used to control any suitable state of the movable object, the support mechanism, the secondary support mechanism, and / or the load. For example, the terminal may be used to control the position and / or orientation of the fixed reference system and / or movable objects, support mechanisms, secondary support mechanisms, and / or loads relative to each other. In some embodiments, the terminal is used to move individual objects of a movable object, support mechanism, sub-support mechanism, and / or load, such as an actuating assembly of the support mechanism, an actuating assembly of the sub-support mechanism, The sensor or the emitter of the load can be controlled. The terminal may include a wireless communication device adapted to communicate with one or more of a movable object, a support mechanism, a secondary support mechanism, or a load. For example, the terminal may control the translation or movement of the load relative to the central body or propulsion unit of the movable object.

  The terminal may include a suitable display unit for viewing information on movable objects, support mechanisms, sub-support mechanisms and / or loads. For example, the terminal may provide information on movable objects, support mechanisms, sub-support mechanisms, and / or loads regarding position, translation speed, translation acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. Can be configured to display. In some embodiments, the terminal may display information provided by the load, such as data provided by the functional load (eg, an image recorded by a camera or other image capture device). In some embodiments, the terminal may display details of the translation of the load relative to the central body of the movable object or the propulsion unit, for example, the direction of translation, the translation distance, the motion status, and the like.

  Optionally, the same terminal controls the movable object, the support mechanism, the sub-support mechanism and / or the mounted object, or the movable object, the support mechanism, the sub-support mechanism and / or the state of the mounted object, and the movable object, Both receiving and / or displaying information from the support mechanism, the sub-support mechanism and / or the load can be performed. For example, the terminal may control the positioning of the load relative to the central body of the movable object or the propulsion unit while displaying image data taken by the load or information regarding the position of the load. Alternatively, different terminals may be used for different functions. For example, the first terminal controls the movement or state of the movable object, support mechanism, sub-support mechanism and / or load while the second terminal is from the moveable object, support mechanism, and / or load. Information may be received and / or displayed. For example, the first terminal can be used to control the positioning of the load with respect to the environment (eg, the central body of the movable object or the propulsion unit), while the second terminal can store the image data taken by the load. indicate. Various communications between a movable object and an integrated terminal that controls both the movable object and receives data, or between a movable object and multiple terminals that both control the movable object and receive data A mode can be used. For example, at least two different communication modes may be formed between a movable object and a terminal that performs both control of the movable object and reception from the movable object.

  In some embodiments, the terminal provides control data to one or more of a movable object, a support mechanism, a secondary support mechanism, and a load, and the movable object, support mechanism, secondary support mechanism, and load. Information may be received from one or more of the objects (eg, movable object, support mechanism, sub-support mechanism or position information and / or motion information of the load; image data taken by the camera, etc., depending on the load Detected data). In some cases, control data from the terminal may include instructions relating to the relative position, movement, actuation, or control of the movable object, support mechanism, sub-support mechanism and / or payload. For example, the control data may be a modification of the location and / or orientation of the movable object (eg, via control of the propulsion mechanism) or the movement of the load relative to the movable object (eg, via control of the support mechanism and secondary support mechanism). ) May occur. Control data from the terminal can be used to control the load, such as control of the operation of the camera or other image capture device (e.g., taking a still image or video, zooming in or out, turning on or off, imaging mode) Switching, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view, moving along support mechanism guide) Can result.

  In some cases, communication from the movable object, the support mechanism, the secondary support mechanism, and / or the load may include information from one or more sensors (eg, of the detection system or load). The communication may include sensed information from one or more different types of sensors (eg, GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). Such information may relate to the position (eg, location, orientation), movement, or acceleration of the movable object, support mechanism, secondary support mechanism, and / or load. Such information from the load may include data taken by the load or a detected state of the load. Control data sent by the terminal may be used to control one or more states of the movable object, the support mechanism, the sub-support mechanism, or the load. Alternatively or in combination, the support mechanism, the sub-support mechanism, and the mount include a communication module configured to communicate with the terminal, respectively, and the terminal includes the movable object, the support mechanism, the sub-support mechanism, and the mount. Can be communicated and controlled independently of each other.

  In some embodiments, the movable object may be configured to communicate with another remote device in addition to or instead of the terminal. The terminal may also be configured to communicate with another remote device as well as a movable object. For example, a movable object and / or terminal may communicate with another movable object, a support mechanism or sub-support mechanism, or a load of another movable object. If desired, the remote device can be a second terminal or other computing device (eg, a computer, laptop, tablet, smartphone, or other mobile device). The remote device may be configured to send data to the movable object, receive data from the movable object, send data to the terminal, and / or receive data from the terminal. Optionally, the remote device may be connected to the Internet or other telecommunications network so that data received from movable objects and / or terminals is uploaded to a website or server.

  A communication system may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. Since the communication can be unidirectional, data can only be transmitted in one direction. For example, a unidirectional communication may include only a moving object that transmits data to the terminal, or vice versa. Data may be transmitted from one or more transmitters of the communication system to one or more receivers of the communication system, or vice versa. Alternatively, the communication can be two-way communication so that data can be transmitted in both directions between the movable object and the terminal. Bi-directional communication may include transmitting data from one or more transmitters of the communication system to one or more receivers of the communication system, and vice versa.

  FIG. 21 is a schematic block diagram of a system 210 for controlling a movable object according to an embodiment. System 210 may be used in combination with any suitable embodiment of the systems, devices, and methods disclosed herein. The system 210 may include a detection module 211, a processing unit 212, a non-transitory computer readable medium 213, a control module 214, and a communication module 215.

  The sensing module may use different types of sensors that collect information about the movable object in different ways and collect information about the movement of the load relative to a part of the movable object, such as the central body of the movable object or the propulsion unit. Different types of sensors may detect different types of signals or signals from different sources. For example, the sensors may include inertial sensors, GPS sensors, proximity sensors (eg, riders), or visual / image sensors (eg, cameras). The sensing module can be operably coupled to a processing unit having a plurality of processors. In some embodiments, the sensing module may be operably coupled to a transmission module 216 (eg, a Wi-Fi image transmission module) configured to transmit sensing data directly to a suitable external device or system. For example, a transmission module may be used to transmit an image taken by the detection module camera to a remote terminal. In addition, a transmission module may be used to transmit the travel distance of the load relative to the central body of the movable object (eg, UAV) to the remote terminal for viewing by the user.

  The processing unit may have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)). The processing unit may be operably coupled to a non-transitory computer readable medium. The non-transitory computer readable medium is logic, code, and / or program instructions executable by the processing unit to perform one or more steps, eg, steps as exemplarily shown in FIGS. Can be stored. Non-transitory computer readable media may include one or more memory units (eg, removable media or external storage devices such as SD cards or random access memory (RAM)). In some embodiments, data from the sensing module can be transmitted directly to a memory unit of a non-transitory computer readable medium and stored there. The memory unit of the non-transitory computer readable medium may store logic, code and / or program instructions executable by the processing unit to perform any suitable embodiment of the methods described herein. For example, the processing unit may be configured to execute instructions that cause sensing data generated by the sensing module to be analyzed by one or more processors of the processing unit. The memory unit may store sensing data from the sensing module to be processed by the processing unit. In some embodiments, a non-transitory computer readable medium memory unit may be used to store the processed results produced by the processing unit.

  In some embodiments, the processing unit is configured to control various states of the movable object, the support mechanism, the secondary support mechanism, and / or the load, as described with reference to FIGS. Operably coupled to the control module. For example, the control module can be configured to control the propulsion mechanism of the movable object to adjust the spatial arrangement, speed, and / or acceleration of the movable object with respect to six degrees of freedom. In some embodiments, the control module may be configured to control the translation distance, translation direction, movement enablement, invalidity, etc. of the load.

  The processing unit may be operatively coupled to a communication module configured to transmit and / or receive data from one or more external devices (eg, a terminal, display device, or other remote controller). Any suitable communication means may be used, such as wired or wireless communication, as described in more detail below. The communication module transmits and / or transmits one or more of sensing data from the sensing module, processed results created by the processing unit, predetermined control data, user commands from the terminal or remote controller, and / or the like. Can be received. For example, user commands may include user control instructions for instructing the load to move somewhat, to stop movement, and to resume movement. In some embodiments, if the load is served as a camera, a user control command is used to continue shooting while moving and to stop shooting while moving, The camera may be controlled to continue shooting within a specified movement distance and to stop shooting within a specified movement distance. In some embodiments, the communication module may be configured to perform adaptive communication mode switching, as described elsewhere herein.

  The components of the system can be arranged in any suitable configuration. For example, one or more components of the system can be a movable object, a support mechanism, a load, a terminal, a sensing system, or an additional external device that communicates with one or more of the above. Furthermore, although FIG. 21 illustrates a single processing unit and a single non-transitory computer readable medium, those skilled in the art will not be limited to this, and the system may include multiple processing units and / or It will also be appreciated that non-transitory computer readable media may be included. In some embodiments, one or more of the plurality of processing units and / or non-transitory computer readable media is a movable object, a support mechanism, a load, a terminal, a sensing module, one of the above. Or any suitable aspect of the processing and / or memory functions performed by the system, such as additional external devices communicating with a plurality, or any suitable combination thereof, performed by the system are Can occur in one or more of:

  While preferred embodiments of the invention have been illustrated and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, modifications, and alternatives will now occur to those skilled in the art without departing from the invention. It is understood that various alternatives to the embodiments of the invention described herein can be used in the practice of the present invention. The following claims are intended to define the scope of the invention and thereby cover the methods and structures and their equivalents that are within the scope of these claims.

While preferred embodiments of the invention have been illustrated and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, modifications, and alternatives will now occur to those skilled in the art without departing from the invention. It is understood that various alternatives to the embodiments of the invention described herein can be used in the practice of the present invention. The following claims are intended to define the scope of the invention and thereby cover the methods and structures and their equivalents that are within the scope of these claims.
[Item 1]
An unmanned aerial vehicle (UAV)
A central body;
One or more propulsion units configured to propel the UAV in air;
A carrier supported by the central body, the carrier configured to support a payload and to allow the payload to translate relative to the central body;
Unmanned aerial vehicles (UAVs).
[Item 2]
The UAV of item 1, wherein the carrier is configured to allow the payload to move above and below the central body.
[Item 3]
The UAV of claim 1, wherein the carrier is configured to allow the payload to translate horizontally relative to the central body.
[Item 4]
The UAV of item 1, wherein the carrier is configured to allow the payload to translate in a direction perpendicular to the central body.
[Item 5]
Item 5. The UAV of item 4, wherein the carrier allows the payload to translate in the vertical direction without having to rotate the payload at all.
[Item 6]
Item 5. The UAV of item 4, wherein the carrier allows the payload to rotate while allowing the payload to translate in the vertical direction.
[Item 7]
Item 5. The UAV of item 4, wherein the carrier allows the payload to translate in the vertical direction without having to translate at all in the horizontal direction.
[Item 8]
Item 5. The UAV of item 4, wherein the carrier allows translation in the horizontal direction while allowing the payload to translate in the vertical direction.
[Item 9]
Item 5. The UAV of item 4, wherein the carrier allows the payload to translate in the vertical direction in response to actuation of at least one actuator of the carrier.
[Item 10]
The UAV of item 1, wherein the carrier comprises at least one vertical rod.
[Item 11]
Item 11. The UAV of item 10, wherein the at least one vertical rod passes through the central body of the UAV.
[Item 12]
Item 11. The UAV of item 10, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.
[Item 13]
11. The UAV of item 10, wherein the carrier includes at least one actuation assembly disposed on the at least one vertical rod.
[Item 14]
14. The UAV of item 13, wherein the at least one actuation assembly includes at least one motor.
[Item 15]
Item 15. The UAV of item 14, wherein the at least one motor is positioned above the central body.
[Item 16]
Item 15. The UAV of item 14, wherein the at least one motor is positioned below the central body.
[Item 17]
The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the payload such that the at least one motor drives the guide screw. 15. The UAV of item 14, wherein the payload is translated relative to the central body.
[Item 18]
The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the payload such that the at least one motor drives the synchronization belt. Item 15. The UAV of item 14, wherein the payload is translated relative to the central body.
[Item 19]
The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the payload such that the at least one motor causes the steel wire rope to Item 15. The UAV of item 14, wherein the UAV is driven to translate the payload relative to the central body.
[Item 20]
Item 4. The UAV according to Item 1, wherein the payload is an imaging device.
[Item 21]
Item 21. The UAV of item 20, wherein the carrier includes a gimbal coupled to the imaging device, and the gimbal allows the imaging device to rotate about one or more rotational axes while translating. .
[Item 22]
Item 22. The UAV according to Item 21, wherein the gimbal is a three-axis gimbal.
[Item 23]
Item 22. The UAV according to Item 21, wherein the imaging device continues to shoot while moving in parallel.
[Item 24]
Item 22. The UAV according to Item 21, wherein the imaging device stops photographing while moving in parallel.
[Item 25]
Item 22. The UAV according to Item 21, wherein the imaging device continues to shoot within a certain parallel movement distance.
[Item 26]
Item 22. The UAV according to Item 21, wherein the imaging device stops shooting within a certain parallel movement distance.
[Item 27]
Item 22. The imaging device according to Item 21, wherein the imaging device performs high-angle shooting at the bottom end of the carrier with respect to the central body, and performs low-angle shooting at the upper end of the carrier with respect to the central body. UAV.
[Item 28]
The UAV according to item 1, wherein a parallel movement distance of the payload with respect to the central body is predetermined.
[Item 29]
The UAV of item 1, wherein the one or more propulsion units are supported by one or more arms extending from the central body.
[Item 30]
The UAV of item 1, wherein the one or more propulsion units include one or more rotor blades that cause the UAV to rise.
[Item 31]
The UAV of item 1, wherein the UAV includes a controller for controlling the translation of the payload.
[Item 32]
32. The UAV of item 31, wherein the controller includes one or more processors configured to generate one or more user instructions for controlling the translation of the payload.
[Item 33]
The UAV of item 32, wherein the controller is mounted on the UAV and configured to control the translation of the payload based on the one or more user instructions.
[Item 34]
32. The UAV of item 31, wherein the controller includes a display device for displaying one or more translation configurations for user selection.
[Item 35]
35. The UAV of item 34, wherein the display device is a touch sensitive display for receiving the user selection of the one or more translation configurations.
[Item 36]
The one or more translation configurations comprise one or more of: translation bias, translation ineffective, one or more translation directions, one or more translation distances. 34. UAV according to 34.
[Item 37]
Item 2. The UAV of item 1, wherein the translational distance of the payload relative to the central body is measurable using one or more sensors.
[Item 38]
38. The UAV of item 37, wherein the carrier includes a Hall sensor that measures the translation distance of the payload relative to the central body.
[Item 39]
38. The UAV of item 37, wherein the carrier includes a digital caliper for measuring the translation distance of the payload relative to the central body.
[Item 40]
38. The UAV of item 37, wherein the measured translation distance is visually displayed to a user of the UAV.
[Item 41]
A remote controller for controlling the positioning of a payload on an unmanned aerial vehicle (UAV) comprising:
A processor configured to generate user control instructions for controlling the UAV of item 1;
The communication unit configured to transmit the user control command to the UAV according to item 1, wherein the user control command is a command for the carrier for translating the payload relative to the central body. Including communication unit
Including remote controller.
[Item 42]
A method of controlling payload positioning on an unmanned aerial vehicle (UAV) comprising:
Supporting a carrier on the central body of the UAV;
Operating one or more propulsion units to propel the UAV in the air;
Using the carrier to support the payload;
Activating the carrier to allow the payload to translate relative to the central body;
Including a method.
[Item 43]
43. A method according to item 42, wherein the carrier is configured to allow the payload to move above and below the central body.
[Item 44]
43. The method of item 42, wherein the carrier is configured to allow the payload to move above and below the one or more propulsion units.
[Item 45]
45. The method of item 42, wherein the carrier is configured to allow the payload to translate horizontally relative to the central body.
[Item 46]
45. The method of item 42, wherein the carrier is configured to allow the payload to translate in a direction perpendicular to the central body.
[Item 47]
47. The method of item 46, wherein the carrier allows the payload to translate in the vertical direction without having to rotate the payload at all.
[Item 48]
49. The method of item 46, wherein the carrier allows the payload to translate in the vertical direction while allowing the payload to rotate.
[Item 49]
47. A method according to item 46, wherein the carrier allows the payload to translate in the vertical direction without having to translate at all in the horizontal direction.
[Item 50]
47. The method of item 46, wherein the carrier allows the payload to translate in the vertical direction while allowing horizontal translation.
[Item 51]
49. The method of item 46, wherein the carrier allows the payload to translate in the vertical direction in response to actuation of at least one actuator of the carrier.
[Item 52]
43. A method according to item 42, wherein the carrier comprises at least one vertical rod.
[Item 53]
53. A method according to item 52, wherein the at least one vertical rod passes through the central body of the UAV.
[Item 54]
53. The method of item 52, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.
[Item 55]
53. The method of item 52, wherein the carrier includes at least one actuation assembly disposed on the at least one vertical rod.
[Item 56]
56. A method according to item 55, wherein the at least one vertical rod passes through the central body of the UAV.
[Item 57]
56. The method of item 55, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.
[Item 58]
56. The method of item 55, wherein the carrier includes at least one actuation assembly disposed on the at least one vertical rod.
[Item 59]
59. The method of item 58, wherein the at least one actuation assembly includes at least one motor.
[Item 60]
60. The method of item 59, wherein the at least one motor is positioned above the central body.
[Item 61]
60. The method of item 59, wherein the at least one motor is positioned below the central body.
[Item 62]
The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the payload such that the at least one motor drives the guide screw. 60. The method of item 59, wherein the payload is translated relative to the central body.
[Item 63]
The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the payload such that the at least one motor drives the synchronization belt. 60. The method of item 59, wherein the payload is translated relative to the central body.
[Item 64]
The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the payload such that the at least one motor causes the steel wire rope to 60. The method of item 59, wherein the method is driven to translate the payload relative to the central body.
[Item 65]
The payload is an imaging device, and the carrier includes a gimbal coupled to the imaging device, and the method configures the gimbal to rotate the imaging device with one or more axes of rotation. 43. A method according to item 42, further comprising a step.
[Item 66]
68. The method according to item 65, further comprising the step of operating the imaging device so as to continue photographing while translating.
[Item 67]
68. A method according to item 65, further comprising the step of operating the imaging device to stop shooting while translating.
[Item 68]
68. A method according to item 65, further comprising the step of operating the imaging device to continue shooting within a certain translational distance.
[Item 69]
68. A method according to item 65, further comprising the step of operating the imaging device to stop imaging within a certain translational distance.
[Item 70]
68. A method according to item 65, further comprising operating the imaging device to perform high-angle imaging at the bottom end of the carrier with respect to the central body.
[Item 71]
68. A method according to item 65, further comprising operating the imaging device to perform low-angle imaging at an upper end of the carrier with respect to the central body.
[Item 72]
43. The method of item 42, further comprising predetermining a translation distance of the payload relative to the central body.
[Item 73]
45. The method of item 42, further comprising applying one or more sensors to measure a translation distance of the payload relative to the central body.
[Item 74]
74. A method according to item 73, wherein the sensor includes one or more hall sensors.
[Item 75]
74. A method according to item 73, wherein the sensor includes one or more digital calipers.
[Item 76]
74. The method of item 73, further comprising the step of visually displaying the measured translation distance.
[Item 77]
An unmanned aerial vehicle (UAV)
A central body;
One or more propulsion units configured to propel the UAV in the air;
A carrier supported by the central body, the carrier configured to support a payload and to allow the payload to pass through the central body;
UAV including.
[Item 78]
80. The UAV of item 77, wherein the carrier is configured to allow the payload to pass vertically through the central body.
[Item 79]
79. The UAV of item 78, wherein the carrier allows the payload to pass through the central body in the vertical direction without having to rotate the payload at all.
[Item 80]
79. The UAV of item 78, wherein the carrier allows the payload to pass through the central body in the vertical direction while allowing the payload to rotate.
[Item 81]
79. The UAV of item 78, wherein the carrier allows the payload to pass through the central body in the vertical direction without having to translate at all in the horizontal direction.
[Item 82]
79. The UAV of item 78, wherein the carrier allows the payload to pass through the central body in the vertical direction while allowing horizontal movement.
[Item 83]
79. The UAV of item 78, wherein the carrier allows the payload to pass through the central body in the vertical direction in response to actuation of at least one actuator of the carrier.
[Item 84]
80. UAV according to item 77, wherein the carrier comprises at least one vertical rod.
[Item 85]
85. A UAV according to item 84, wherein the at least one vertical rod passes through the central body of the UAV.
[Item 86]
85. The UAV of item 84, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.
[Item 87]
85. The UAV of item 84, wherein the carrier includes at least one actuation assembly disposed on the at least one vertical rod.
[Item 88]
88. UAV according to item 87, wherein the at least one actuation assembly includes at least one motor.
[Item 89]
89. The UAV of item 88, wherein the at least one motor is positioned above the central body.
[Item 90]
89. UAV according to item 88, wherein the at least one motor is positioned below the central body.
[Item 91]
The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the payload such that the at least one motor drives the guide screw. 89. The UAV of item 88, wherein the payload is moved relative to the central body.
[Item 92]
The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the payload such that the at least one motor drives the synchronization belt. 89. The UAV of item 88, wherein the payload is moved relative to the central body.
[Item 93]
The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the payload such that the at least one motor causes the steel wire rope to 89. The UAV of item 88, wherein the UAV is driven to move the payload relative to the central body.
[Item 94]
80. UAV according to item 77, wherein the payload is an imaging device.
[Item 95]
95. The UAV of item 94, wherein the carrier includes a gimbal coupled to the imaging device, and the gimbal allows the imaging device to rotate on one or more axes of rotation while moving.
[Item 96]
96. The UAV of item 95, wherein the gimbal is a triaxial gimbal.
[Item 97]
96. UAV according to item 95, wherein the imaging device continues to shoot while moving.
[Item 98]
96. UAV according to item 95, wherein shooting is stopped while the imaging device is moving.
[Item 99]
96. The UAV of item 95, wherein the imaging device continues to shoot within a certain moving distance.
[Item 100]
96. UAV according to item 95, wherein the imaging device stops shooting within a certain moving distance.
[Item 101]
96. The item 95, wherein the imaging device performs high-angle shooting at the bottom end of the carrier with respect to the central body, and performs low-angle shooting at the top end of the carrier with respect to the central body. UAV.
[Item 102]
80. UAV according to item 77, wherein a moving distance of the payload moving upward and downward of the central body is predetermined.
[Item 103]
79. The UAV of item 77, wherein the one or more propulsion units are supported by one or more arms extending from the central body.
[Item 104]
80. A UAV according to item 77, wherein the one or more propulsion units include one or more rotor blades configured to cause the UAV to rise.
[Item 105]
80. The UAV of item 77, wherein the UAV includes a controller that controls the movement of the payload.
[Item 106]
106. The UAV of item 105, wherein the controller includes one or more processors configured to generate one or more user instructions for controlling the movement of the payload.
[Item 107]
108. The UAV of item 106, wherein the controller is mounted on the UAV and is configured to control the movement of the payload based on the one or more user instructions.
[Item 108]
106. The UAV of item 105, wherein the controller includes a display device for displaying one or more mobile configurations for user selection.
[Item 109]
109. The UAV of item 108, wherein the display device is a touch sensitive display for receiving the user selection of the one or more mobile configurations.
[Item 110]
109. The UAV of item 108, wherein the one or more movement configurations include one or more of movement bias, movement inactivity, movement direction, and movement distance.
[Item 111]
79. The UAV of item 77, wherein the distance traveled by the payload relative to the central body can be measured using one or more sensors.
[Item 112]
112. The UAV of item 111, wherein the carrier includes one or more Hall sensors for measuring the distance traveled by the payload relative to the central body.
[Item 113]
112. The UAV of item 111, wherein the carrier includes one or more digital calipers for measuring the distance traveled by the payload relative to the central body.
[Item 114]
112. The UAV of item 111, wherein the measured travel distance is visually displayed to a user of the UAV.
[Item 115]
A remote controller for controlling the positioning of a payload on an unmanned aerial vehicle (UAV),
78. A processor configured to generate user control instructions for controlling the UAV of item 77;
78. A communication unit configured to send the user control command to the UAV of item 77, wherein the user control command is a command for the carrier that allows the payload to pass through the central body. Including communication unit
UAV including.
[Item 116]
In a method for controlling the positioning of a payload on an unmanned aerial vehicle (UAV),
Supporting a carrier on the central body of the UAV;
Operating one or more propulsion units to propel the UAV in the air;
Using the carrier to support the payload;
Activating the carrier to allow the payload to pass through the central body;
Including a method.
[Item 117]
119. The method of item 116, wherein the carrier is configured to allow the payload to pass vertically through the central body.
[Item 118]
118. A method according to item 117, wherein the carrier allows the payload to pass through the central body in the vertical direction without having to rotate the payload at all.
[Item 119]
118. The method of item 117, wherein the carrier allows the payload to pass through the central body in the vertical direction while allowing the payload to rotate.
[Item 120]
118. The method of item 117, wherein the carrier allows the payload to pass through the central body in the vertical direction without having to translate in the horizontal direction at all.
[Item 121]
118. The method of item 117, wherein the carrier allows the payload to pass through the central body in the vertical direction while allowing horizontal movement.
[Item 122]
118. The method of item 117, wherein the carrier allows the payload to pass through the central body in the vertical direction in response to actuation of at least one actuator of the carrier.
[Item 123]
119. The method of item 116, wherein the carrier comprises at least one vertical rod.
[Item 124]
124. The method of item 123, wherein the at least one vertical rod passes through the central body of the UAV.
[Item 125]
124. The method of item 123, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.
[Item 126]
124. The method of item 123, wherein the carrier comprises at least one actuation assembly disposed on the at least one vertical rod.
[Item 127]
127. A method according to item 126, wherein the at least one actuation assembly includes at least one motor.
[Item 128]
128. The method according to item 127, wherein the at least one motor is positioned above the central body.
[Item 129]
128. A method according to item 127, wherein the at least one motor is positioned below the central body.
[Item 130]
The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the payload such that the at least one motor drives the guide screw. 128. The method of item 127, wherein the payload is moved relative to the central body.
[Item 131]
The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the payload such that the at least one motor drives the synchronization belt. 128. A method according to item 127, wherein the payload is moved relative to the central body.
[Item 132]
The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and connected to the payload such that the at least one motor causes the steel wire rope to 128. A method according to item 127, wherein driving is performed to move the payload relative to the central body.
[Item 133]
The payload is an imaging device, and the carrier includes a gimbal coupled to the imaging device, and the method configures the gimbal to rotate the imaging device with one or more axes of rotation. 118. A method according to item 116, further comprising a step.
[Item 134]
143. The method of item 133, further comprising the step of operating the imaging device to continue shooting while moving.
[Item 135]
134. The method according to item 133, further comprising the step of operating the imaging device to stop shooting while moving.
[Item 136]
134. The method according to item 133, further comprising the step of operating the imaging device so as to continue shooting within a certain moving distance.
[Item 137]
134. The method according to item 133, further comprising the step of operating the imaging device to stop shooting within a certain distance of travel.
[Item 138]
143. The method of item 133, further comprising the step of operating the imaging device to perform high angle shooting at the bottom end of the carrier relative to the central body.
[Item 139]
143. The method of item 133, further comprising the step of operating the imaging device to perform low-angle imaging at the upper end of the carrier relative to the central body.
[Item 140]
117. The method of item 116, further comprising predetermining a distance traveled by the payload relative to the central body.
[Item 141]
117. The method of item 116, further comprising applying one or more sensors to measure a distance traveled by the payload relative to the central body.
[Item 142]
142. The method according to item 141, wherein the sensor includes one or more hall sensors.
[Item 143]
142. The method according to item 141, wherein the sensor includes one or more digital calipers.
[Item 144]
142. The method of item 141, further comprising visually displaying the measured travel distance.
[Item 145]
A carrier configured to support a payload on an unmanned aerial vehicle (UAV) comprising:
One or more guides;
A first actuator configured to allow the payload to translate relative to the one or more guides;
A second actuator configured to allow the payload to rotate about one or more axes of rotation relative to the one or more guides;
Including the carrier.
[Item 146]
145. The carrier of item 145, wherein the one or more guides are one or more bars.
[Item 147]
147. The carrier of item 146, wherein the one or more bars are oriented vertically.
[Item 148]
147. The carrier of item 146, wherein the one or more bars are oriented horizontally.
[Item 149]
145. The carrier of item 145, wherein the first actuator is configured to allow the payload to translate horizontally relative to the one or more guides.
[Item 150]
145. The carrier of item 145, wherein the first actuator is configured to allow the payload to translate vertically with respect to the one or more guides.
[Item 151]
150. The carrier of item 150, wherein the first actuator allows the payload to translate in the vertical direction without the payload being rotated at all by the second actuator.
[Item 152]
150. The carrier of item 150, wherein the first actuator allows the payload to translate in the vertical direction, while the second actuator allows rotation of the payload.
[Item 153]
150. The carrier of item 150, wherein the first actuator allows the payload to translate in the vertical direction without having to translate in the horizontal direction at all.
[Item 154]
150. The carrier of item 150, wherein the first actuator allows the payload to translate in the vertical direction while allowing horizontal translation.
[Item 155]
145. The carrier of item 145, wherein the carrier includes at least one vertical guide.
[Item 156]
165. The carrier of item 155, wherein the at least one vertical guide passes through a central body of the UAV.
[Item 157]
165. The carrier of item 155, wherein at least two vertical guides that are substantially parallel to each other pass through the central body of the UAV.
[Item 158]
164. The carrier of item 155, wherein the first actuator is disposed on the at least one vertical guide.
[Item 159]
159. The carrier of item 158, wherein the first actuator includes at least one motor.
[Item 160]
160. The carrier of item 159, wherein the at least one motor is positioned above a central body of the UAV.
[Item 161]
160. The carrier of item 159, wherein the at least one motor is positioned on the underside of the central body of the UAV.
[Item 162]
The first actuator includes a guide screw, and the guide screw is disposed in the at least one vertical guide and engages the payload such that the at least one motor drives the guide screw. 160. The carrier of item 159, wherein the payload is translated.
[Item 163]
The first actuator includes a synchronization belt, and the synchronization belt is disposed in the at least one vertical guide and is connected to the payload such that the at least one motor drives the synchronization belt and 160. The carrier according to item 159, wherein the carrier is adapted to translate the payload.
[Item 164]
The first actuator includes a steel wire rope, and the steel wire rope is disposed in the at least one vertical guide and connected to the payload such that the at least one motor drives the steel wire line 160. The carrier of item 159, wherein the payload is translated.
[Item 165]
The second actuator includes a gimbal coupled to the payload, and the gimbal allows the payload to rotate about one or more axes of rotation relative to the one or more guides. 145. The carrier according to item 145.
[Item 166]
164. The carrier of item 165, wherein the gimbal is a triaxial gimbal.
[Item 167]
145. The carrier of item 145, wherein the payload is an imaging device.
[Item 168]
168. The carrier according to item 167, wherein the imaging device continues to shoot while moving in parallel.
[Item 169]
168. A carrier according to item 167, wherein photographing is stopped while the imaging device moves in parallel.
[Item 170]
168. The carrier of item 167, wherein the imaging device continues to shoot within a certain translational distance.
[Item 171]
168. The carrier of item 167, wherein the imaging device stops shooting within a certain translational distance.
[Item 172]
168. The item 167, wherein the imaging device performs high-angle shooting at the bottom end of the carrier with respect to the central body, and performs low-angle shooting at the upper end of the carrier with respect to the central body. Career.
[Item 173]
145. The carrier of item 145, wherein translation of the payload relative to one or more guides is predetermined.
[Item 174]
145. The carrier of item 145, wherein a translation distance of the payload relative to the one or more guides is measurable.
[Item 175]
175. The carrier of item 174, wherein the carrier includes one or more Hall sensors for measuring the translation distance of the payload.
[Item 176]
175. The carrier of item 174, wherein the carrier includes one or more digital calipers for measuring the translation distance of the payload.
[Item 177]
145. The carrier of item 145, wherein a translation distance of the payload relative to the one or more guides is controllable.
[Item 178]
180. A carrier according to item 177, wherein a control system is mounted on the UAV, and the parallel movement distance of the payload is controlled.
[Item 179]
180. The carrier of item 177, wherein the translation distance of the payload is wirelessly controlled by a remote controller.
[Item 180]
146. The carrier of item 145, wherein the carrier includes a control system that controls the translation of the payload.
[Item 181]
181. The carrier of item 180, wherein the control system is configured to receive a translation command from a remote controller.
[Item 182]
181. The carrier of item 180, wherein the control system is configured to receive a translation command directly from a user.
[Item 183]
A remote controller for controlling payload positioning on an unmanned aerial vehicle (UAV),
146. A processor configured to generate user control instructions for controlling the carrier of item 145;
145. A communication unit configured to transmit the user control command to the UAV of item 145;
Including
The user control instructions include instructions for the carrier that allow the payload to translate relative to the one or more guides, and one or more of the payloads for the one or more guides. A remote controller comprising instructions for the carrier that allow it to rotate about the axis of rotation of the carrier.
[Item 184]
A method for supporting a payload on an unmanned aerial vehicle (UAV) comprising:
Providing one or more guides;
Configuring a first actuator to allow the payload to translate relative to the one or more guides;
Configuring a second actuator to allow the payload to rotate about one or more axes of rotation relative to the one or more guides;
Including a method.
[Item 185]
185. The method of item 184, wherein the one or more guides are one or more bars.
[Item 186]
184. The method of item 185, wherein the one or more bars are oriented vertically.
[Item 187]
184. The method of item 185, wherein the one or more bars are oriented horizontally.
[Item 188]
184. The method of item 184, wherein the first actuator is configured to allow the payload to translate horizontally relative to the one or more guides.
[Item 189]
185. The method of item 184, wherein the first actuator is configured to allow the payload to translate vertically with respect to the one or more guides.
[Item 190]
189. The method of item 189, wherein the first actuator allows the payload to translate in the vertical direction without rotating the payload at all by the second actuator.
[Item 191]
189. The method of item 189, wherein the first actuator allows the payload to translate in the vertical direction while the second actuator allows rotation of the payload.
[Item 192]
188. The method of item 189, wherein the first actuator allows the payload to translate in the vertical direction without having to translate in the horizontal direction at all.
[Item 193]
189. The method of item 189, wherein the first actuator allows the payload to translate in the vertical direction while allowing horizontal translation.
[Item 194]
185. The method of item 184, wherein the method includes providing at least one vertical guide.
[Item 195]
195. The method of item 194, wherein the at least one vertical guide passes through a central body of the UAV.
[Item 196]
195. The method of item 194, wherein at least two vertical guides that are substantially parallel to each other pass through the central body of the UAV.
[Item 197]
195. The method of item 194, wherein the method comprises positioning the first actuator in the at least one vertical guide.
[Item 198]
196. The method of item 197, wherein the first actuator includes at least one motor.
[Item 199]
199. The method of item 198, wherein the method includes positioning the at least one motor above a central body of the UAV.
[Item 200]
199. The method of item 198, wherein the method includes positioning the at least one motor below a central body of the UAV.
[Item 201]
The first actuator includes a guide screw, and the guide screw is disposed in the at least one vertical guide and engages the payload such that the at least one motor drives the guide screw. 199. The method of item 198, wherein the payload is translated.
[Item 202]
The first actuator includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical guide and is connected to the payload such that the at least one motor drives the synchronization belt and the payload 199. A method according to item 198, wherein the is translated.
[Item 203]
The first actuator includes a steel wire rope, and the steel wire rope is disposed in the at least one vertical guide and is connected to the payload, and the at least one motor drives the steel wire line; 199. The method of item 198, wherein the payload is translated.
[Item 204]
The method includes configuring the second actuator to include a gimbal coupled to the payload; and the payload rotates about one or more axes of rotation relative to the one or more guides. 184. The method of item 184, comprising: configuring the gimbal to allow
[Item 205]
205. A method according to item 204, wherein the gimbal is a three-axis gimbal.
[Item 206]
205. A method according to item 204, wherein the payload is an imaging device.
[Item 207]
207. A method according to item 206, wherein the imaging device continues to shoot while translating.
[Item 208]
207. A method according to item 206, wherein imaging is stopped while the imaging device is translated.
[Item 209]
207. The method of item 206, wherein the imaging device continues to shoot within a certain translational distance.
[Item 210]
207. A method according to item 206, wherein the imaging device stops shooting within a certain translational distance.
[Item 211]
The item 206, wherein the imaging device performs high-angle shooting at the bottom end of the carrier with respect to the central body, and performs low-angle shooting at the top end of the carrier with respect to the central body. Method.
[Item 212]
185. The method of item 184, wherein the method includes predetermining a translation distance of the payload relative to one or more guides.
[Item 213]
184. The method of item 184, wherein the method includes measuring a translation distance of the payload relative to the one or more guides.
[Item 214]
213. The method of item 213, further comprising configuring one or more Hall sensors to measure the translation distance of the payload.
[Item 215]
213. The method of item 213, further comprising configuring one or more digital calipers to measure the translation distance of the payload.
[Item 216]
185. The method of item 184, wherein the method includes controlling a translation distance of the payload relative to the one or more guides.
[Item 217]
227. The method of item 216, further comprising configuring a control system mounted on the UAV to control the translation distance of the payload.
[Item 218]
185. The method of item 184, wherein the method includes receiving a translation command from a remote controller.
[Item 219]
185. The method of item 184, wherein the method includes receiving a translation command from user input.

Claims (219)

An unmanned aerial vehicle (UAV)
A central body;
One or more propulsion units configured to propel the UAV in air;
An unmanned aerial vehicle including a support mechanism supported by the central body, the support mechanism configured to support a load and to allow the load to translate relative to the central body. (UAV).   The UAV of claim 1, wherein the support mechanism is configured to allow the load to move above and below the central body.   The UAV of claim 1, wherein the support mechanism is configured to allow the load to translate horizontally relative to the central body.   The UAV of claim 1, wherein the support mechanism is configured to allow the load to translate vertically with respect to the central body.   The UAV of claim 4, wherein the support mechanism allows the load to translate in the vertical direction without having to rotate the load at all.   The UAV of claim 4, wherein the support mechanism allows the load to rotate while allowing the load to translate in the vertical direction.   The UAV of claim 4, wherein the support mechanism enables the load to translate in the vertical direction without having to translate in the horizontal direction at all.   The UAV of claim 4, wherein the support mechanism allows translation in a horizontal direction while allowing the load to translate in the vertical direction.   The UAV of claim 4, wherein the support mechanism allows the load to translate in the vertical direction in response to actuation of at least one actuator of the support mechanism.   The UAV of claim 1, wherein the support mechanism includes at least one vertical rod.   The UAV of claim 10, wherein the at least one vertical rod passes through the central body of the UAV.   The UAV of claim 10, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.   The UAV of claim 10, wherein the support mechanism includes at least one actuation assembly disposed on the at least one vertical rod.   The UAV of claim 13, wherein the at least one actuation assembly includes at least one motor.   The UAV of claim 14, wherein the at least one motor is positioned above the central body.   The UAV of claim 14, wherein the at least one motor is positioned below the central body.   The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the load so that the at least one motor drives the guide screw The UAV according to claim 14, wherein the load is translated with respect to the central body.   The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor drives the synchronization belt. The UAV according to claim 14, wherein the load is translated relative to the central body.   The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor is the steel wire rope. The UAV according to claim 14, wherein the UAV is driven to translate the mounted object relative to the central body.   The UAV according to claim 1, wherein the mounted object is an imaging device.   21. The support mechanism of claim 20, wherein the support mechanism includes a gimbal coupled to the imaging device, and the gimbal allows the imaging device to rotate about one or more rotational axes while translating. UAV.   The UAV of claim 21, wherein the gimbal is a triaxial gimbal.   The UAV of claim 21, wherein the imaging device continues to shoot while moving in parallel.   The UAV according to claim 21, wherein shooting is stopped while the imaging device moves in parallel.   The UAV of claim 21, wherein the imaging device continues to shoot within a certain translation distance.   The UAV according to claim 21, wherein the imaging device stops shooting within a certain parallel movement distance.   The imaging device performs high-angle shooting at the bottom end of the support mechanism with respect to the central body, and performs low-angle shooting at the upper end of the support mechanism with respect to the central body. The UAV described in 1.   The UAV according to claim 1, wherein a parallel movement distance of the mounted object with respect to the central body is predetermined.   The UAV of claim 1, wherein the one or more propulsion units are supported by one or more arms extending from the central body.   The UAV of claim 1, wherein the one or more propulsion units include one or more rotor blades that cause the UAV to rise.   The UAV of claim 1, wherein the UAV includes a controller for controlling the translation of the load.   32. The UAV of claim 31, wherein the controller includes one or more processors configured to generate one or more user instructions for controlling the translation of the load.   33. The UAV of claim 32, wherein the controller is mounted on the UAV and configured to control the translation of the load based on the one or more user instructions.   32. The UAV of claim 31, wherein the controller includes a display device for displaying one or more translation configurations for user selection.   35. The UAV of claim 34, wherein the display device is a touch sensitive display for receiving the user selection of the one or more translation configurations.   The one or more translation configurations include one or more of: translation bias, translation ineffective, one or more translation directions, one or more translation distances. Item 35. The UAV according to Item 34.   The UAV of claim 1, wherein a translational distance of the load relative to the central body can be measured using one or more sensors.   38. The UAV of claim 37, wherein the support mechanism includes a Hall sensor that measures the translation distance of the load relative to the central body.   38. The UAV of claim 37, wherein the support mechanism includes a digital caliper for measuring the translational distance of the load relative to the central body.   38. The UAV of claim 37, wherein the measured translation distance is visually displayed to a user of the UAV. A remote controller for controlling the positioning of a load on an unmanned aerial vehicle (UAV):
A processor configured to generate user control instructions for controlling the UAV of claim 1;
The communication unit configured to transmit the user control command to the UAV according to claim 1, wherein the user control command is the support mechanism for translating the mounted object relative to the central body. A remote controller, including a communication unit, including instructions for. A method for controlling positioning of a load on an unmanned aerial vehicle (UAV),
Supporting a support mechanism on the central body of the UAV;
Operating one or more propulsion units to propel the UAV in the air;
Supporting the load using the support mechanism;
Activating the support mechanism to allow the load to translate relative to the central body.   43. The method of claim 42, wherein the support mechanism is configured to allow the load to move above and below the central body.   43. The method of claim 42, wherein the support mechanism is configured to allow the load to move above and below the one or more propulsion units.   43. The method of claim 42, wherein the support mechanism is configured to allow the load to translate horizontally relative to the central body.   43. The method of claim 42, wherein the support mechanism is configured to allow the load to translate vertically with respect to the central body.   47. The method of claim 46, wherein the support mechanism allows the load to translate in the vertical direction without having to rotate the load at all.   47. The method of claim 46, wherein the support mechanism allows the load to translate in the vertical direction while allowing the load to rotate.   47. The method of claim 46, wherein the support mechanism allows the load to translate in the vertical direction without having to translate in the horizontal direction at all.   47. The method of claim 46, wherein the support mechanism allows the load to translate in the vertical direction while allowing horizontal translation.   47. The method of claim 46, wherein the support mechanism allows the load to translate in the vertical direction in response to actuation of at least one actuator of the support mechanism.   43. The method of claim 42, wherein the support mechanism includes at least one vertical rod.   53. The method of claim 52, wherein the at least one vertical rod passes through the central body of the UAV.   53. The method of claim 52, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.   53. The method of claim 52, wherein the support mechanism includes at least one actuation assembly disposed on the at least one vertical rod.   56. The method of claim 55, wherein the at least one vertical rod passes through the central body of the UAV.   56. The method of claim 55, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.   56. The method of claim 55, wherein the support mechanism includes at least one actuation assembly disposed on the at least one vertical rod.   59. The method of claim 58, wherein the at least one actuation assembly includes at least one motor.   60. The method of claim 59, wherein the at least one motor is positioned above the central body.   60. The method of claim 59, wherein the at least one motor is positioned below the central body.   The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the load so that the at least one motor drives the guide screw 60. The method of claim 59, wherein the load is translated relative to the central body.   The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor drives the synchronization belt. 60. The method of claim 59, wherein the load is translated relative to the central body.   The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor is the steel wire rope. 60. The method of claim 59, wherein the load is driven to translate the load relative to the central body.   The mounting is an imaging device, and the support mechanism includes a gimbal coupled to the imaging device, and the method includes rotating the gimbal to rotate the imaging device with one or more rotation axes. 43. The method of claim 42, further comprising configuring.   66. The method of claim 65, further comprising operating the imaging device to continue shooting while translating.   66. The method of claim 65, further comprising operating the imaging device to stop shooting while translating.   66. The method of claim 65, further comprising operating the imaging device to continue shooting within a certain translational distance.   66. The method of claim 65, further comprising operating the imaging device to stop shooting within a certain translational distance.   66. The method of claim 65, further comprising operating the imaging device to perform high-angle imaging at the bottom end of the support mechanism relative to the central body.   66. The method of claim 65, further comprising operating the imaging device to perform a low angle shot at the upper end of the support mechanism relative to the central body.   43. The method of claim 42, further comprising predetermining a translation distance of the load relative to the central body.   43. The method of claim 42, further comprising applying one or more sensors to measure a translation distance of the mount relative to the central body.   74. The method of claim 73, wherein the sensor comprises one or more hall sensors.   74. The method of claim 73, wherein the sensor includes one or more digital calipers.   74. The method of claim 73, further comprising visually displaying the measured translation distance. An unmanned aerial vehicle (UAV)
A central body;
One or more propulsion units configured to propel the UAV in the air;
A UAV supported by the central body, the UAV comprising a support mechanism configured to support a load and allow the load to pass through the center body.   78. The UAV of claim 77, wherein the support mechanism is configured to allow the load to pass vertically through the central body.   79. The UAV of claim 78, wherein the support mechanism allows the load to pass through the central body in the vertical direction without having to rotate the load at all.   79. The UAV of claim 78, wherein the support mechanism allows the load to pass through the central body in the vertical direction while allowing the load to rotate.   79. The UAV of claim 78, wherein the support mechanism allows the load to pass through the central body in the vertical direction without having to translate at all in the horizontal direction.   79. The UAV of claim 78, wherein the support mechanism allows the load to pass through the central body in the vertical direction while allowing horizontal movement.   79. The UAV of claim 78, wherein the support mechanism allows the load to pass through the central body in the vertical direction in response to actuation of at least one actuator of the support mechanism.   78. The UAV of claim 77, wherein the support mechanism includes at least one vertical rod.   85. The UAV of claim 84, wherein the at least one vertical rod passes through the central body of the UAV.   85. The UAV of claim 84, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.   85. The UAV of claim 84, wherein the support mechanism includes at least one actuation assembly disposed on the at least one vertical rod.   88. The UAV of claim 87, wherein the at least one actuation assembly includes at least one motor.   90. The UAV of claim 88, wherein the at least one motor is positioned above the central body.   90. The UAV of claim 88, wherein the at least one motor is positioned below the central body.   The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the load so that the at least one motor drives the guide screw 90. The UAV of claim 88, wherein the load is moved relative to the central body.   The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor drives the synchronization belt. 90. The UAV of claim 88, wherein the load is moved relative to the central body.   The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor is the steel wire rope. 90. The UAV of claim 88, wherein the UAV is driven to move the load relative to the central body.   78. A UAV according to claim 77, wherein the load is an imaging device.   95. The UAV of claim 94, wherein the support mechanism includes a gimbal coupled to the imaging device, and the gimbal allows the imaging device to rotate on one or more rotational axes while moving. .   96. The UAV of claim 95, wherein the gimbal is a triaxial gimbal.   96. The UAV of claim 95, wherein the imaging device continues to shoot while moving.   96. The UAV of claim 95, wherein the imaging device stops shooting while moving.   96. The UAV of claim 95, wherein the imaging device continues to shoot within a certain distance of travel.   96. The UAV according to claim 95, wherein the imaging device stops shooting within a certain moving distance.   96. The imaging apparatus performs high-angle shooting at the bottom end of the support mechanism with respect to the central body, and performs low-angle shooting at the upper end of the support mechanism with respect to the central body. The UAV described in 1.   78. The UAV of claim 77, wherein a travel distance of the load that moves up and down the center body is predetermined.   78. The UAV of claim 77, wherein the one or more propulsion units are supported by one or more arms extending from the central body.   78. The UAV of claim 77, wherein the one or more propulsion units include one or more rotor blades configured to cause the UAV to rise.   78. The UAV of claim 77, wherein the UAV includes a controller that controls the movement of the load.   106. The UAV of claim 105, wherein the controller includes one or more processors configured to generate one or more user instructions for controlling the movement of the load.   107. The UAV of claim 106, wherein the controller is mounted on the UAV and configured to control the movement of the load based on the one or more user instructions.   106. The UAV of claim 105, wherein the controller includes a display device for displaying one or more mobile configurations for user selection.   109. The UAV of claim 108, wherein the display device is a touch sensitive display for receiving the user selection of the one or more mobile configurations.   109. The UAV of claim 108, wherein the one or more movement configurations include one or more of movement bias, movement inactivity, movement direction, and movement distance.   78. The UAV of claim 77, wherein the travel distance of the load relative to the central body can be measured using one or more sensors.   112. The UAV of claim 111, wherein the support mechanism includes one or more Hall sensors for measuring the travel distance of the load relative to the central body.   112. The UAV of claim 111, wherein the support mechanism includes one or more digital calipers for measuring the travel distance of the load relative to the central body.   112. The UAV of claim 111, wherein the measured travel distance is visually displayed to a user of the UAV. A remote controller for controlling the positioning of a load on an unmanned aerial vehicle (UAV),
78. A processor configured to generate user control instructions for controlling the UAV of claim 77;
78. A communication unit configured to transmit the user control command to a UAV according to claim 77, wherein the user control command allows the load to pass through the central body. A UAV, including a communication unit. In a method for controlling the positioning of a load on an unmanned aerial vehicle (UAV),
Supporting a support mechanism on the central body of the UAV;
Operating one or more propulsion units to propel the UAV in the air;
Supporting the load using the support mechanism;
Activating the support mechanism to allow the load to pass through the central body.   117. The method of claim 116, wherein the support mechanism is configured to allow the load to pass vertically through the central body.   118. The method of claim 117, wherein the support mechanism allows the load to pass through the central body in the vertical direction without having to rotate the load at all.   118. The method of claim 117, wherein the support mechanism allows the load to pass through the central body in the vertical direction while allowing the load to rotate.   118. The method of claim 117, wherein the support mechanism allows the load to pass through the central body in the vertical direction without having to translate in the horizontal direction at all.   118. The method of claim 117, wherein the support mechanism allows the load to pass through the central body in the vertical direction while allowing horizontal movement.   118. The method of claim 117, wherein the support mechanism allows the load to pass through the central body in the vertical direction in response to actuation of at least one actuator of the support mechanism.   117. The method of claim 116, wherein the support mechanism includes at least one vertical rod.   124. The method of claim 123, wherein the at least one vertical rod passes through the central body of the UAV.   124. The method of claim 123, wherein at least two vertical rods that are substantially parallel to each other pass through the central body of the UAV.   124. The method of claim 123, wherein the support mechanism includes at least one actuation assembly disposed on the at least one vertical rod.   127. The method of claim 126, wherein the at least one actuation assembly includes at least one motor.   128. The method of claim 127, wherein the at least one motor is positioned above the central body.   128. The method of claim 127, wherein the at least one motor is positioned below the central body.   The at least one actuation assembly includes a guide screw, and the guide screw is disposed on the at least one vertical rod and engages the load so that the at least one motor drives the guide screw 128. The method of claim 127, wherein the load is moved relative to the central body.   The at least one actuation assembly includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor drives the synchronization belt. 128. The method of claim 127, wherein the load is moved relative to the central body.   The at least one actuation assembly includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical rod and is connected to the mount so that the at least one motor is the steel wire rope. 129. The method of claim 127, wherein the device is driven to move the load relative to the central body.   The mounted object is an imaging device, and the support mechanism includes a gimbal coupled to the imaging device, and the method rotates the gimbal so that the imaging device rotates about one or more rotation axes. 117. The method of claim 116, further comprising configuring.   143. The method of claim 133, further comprising operating the imaging device to continue shooting while moving.   143. The method of claim 133, further comprising operating the imaging device to stop shooting while in motion.   143. The method of claim 133, further comprising operating the imaging device to continue shooting within a certain distance of travel.   143. The method of claim 133, further comprising operating the imaging device to stop shooting within a certain distance of travel.   143. The method of claim 133, further comprising operating the imaging device to perform high-angle imaging at the bottom end of the support mechanism relative to the central body.   143. The method of claim 133, further comprising operating the imaging device to perform low-angle imaging at the upper end of the support mechanism relative to the central body.   117. The method of claim 116, further comprising predetermining a travel distance of the load relative to the central body.   117. The method of claim 116, further comprising applying one or more sensors to measure a distance traveled by the load relative to the central body.   142. The method of claim 141, wherein the sensor comprises one or more hall sensors.   142. The method of claim 141, wherein the sensor comprises one or more digital calipers.   142. The method of claim 141, further comprising the step of visually displaying the measured travel distance. A support mechanism configured to support a load on an unmanned aerial vehicle (UAV) comprising:
One or more guides;
A first actuator configured to allow the load to translate relative to the one or more guides;
And a second actuator configured to allow the load to rotate about one or more axes of rotation relative to the one or more guides.   146. The support mechanism of claim 145, wherein the one or more guides are one or more bars.   147. The support mechanism of claim 146, wherein the one or more bars are oriented vertically.   147. The support mechanism of claim 146, wherein the one or more bars are oriented horizontally.   146. The support mechanism of claim 145, wherein the first actuator is configured to allow the load to translate horizontally relative to the one or more guides.   146. The support mechanism of claim 145, wherein the first actuator is configured to allow the load to translate vertically with respect to the one or more guides.   161. The support mechanism of claim 150, wherein the first actuator allows the load to translate in the vertical direction without the mount being rotated at all by the second actuator.   165. The support mechanism of claim 150, wherein the first actuator allows the load to translate in the vertical direction, while the second actuator allows the load to rotate. .   161. The support mechanism of claim 150, wherein the first actuator allows the load to translate in the vertical direction without having to translate in the horizontal direction at all.   156. The support mechanism of claim 150, wherein the first actuator allows the load to translate in the vertical direction while allowing horizontal translation.   146. The support mechanism of claim 145, wherein the support mechanism includes at least one vertical guide.   165. The support mechanism of claim 155, wherein the at least one vertical guide passes through a central body of the UAV.   165. The support mechanism of claim 155, wherein at least two vertical guides that are substantially parallel to each other pass through the central body of the UAV.   165. The support mechanism of claim 155, wherein the first actuator is disposed on the at least one vertical guide.   159. The support mechanism of claim 158, wherein the first actuator includes at least one motor.   160. The support mechanism of claim 159, wherein the at least one motor is positioned above the central body of the UAV.   160. The support mechanism of claim 159, wherein the at least one motor is positioned below the central body of the UAV.   The first actuator includes a guide screw, and the guide screw is disposed on the at least one vertical guide and engages the load so that the at least one motor drives the guide screw. 160. The support mechanism according to claim 159, wherein the load is translated.   The first actuator includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical guide and is connected to the load so that the at least one motor drives the synchronization belt. 159. The support mechanism of claim 159, wherein the load is translated.   The first actuator includes a steel wire rope, and the steel wire rope is disposed on the at least one vertical guide and connected to the load so that the at least one motor causes the steel wire line to 160. The support mechanism of claim 159, wherein the support mechanism is driven to translate the load.   The second actuator includes a gimbal coupled to the mounting, and the gimbal rotates about one or more rotational axes with respect to the one or more guides. 145. The support mechanism of claim 145, which enables:   166. The support mechanism of claim 165, wherein the gimbal is a triaxial gimbal.   The support mechanism according to claim 145, wherein the mounted object is an imaging device.   166. The support mechanism according to claim 167, wherein the imaging device continues to shoot while moving in parallel.   168. The support mechanism according to claim 167, wherein the imaging device stops imaging while moving in parallel.   166. The support mechanism according to claim 167, wherein the imaging device continues to photograph within a certain parallel movement distance.   167. The support mechanism according to claim 167, wherein the imaging device stops photographing within a certain parallel movement distance.   167. The imaging apparatus performs high-angle shooting at the bottom end of the support mechanism with respect to the central body, and performs low-angle shooting at the upper end of the support mechanism with respect to the central body. The support mechanism described in 1.   146. The support mechanism of claim 145, wherein the translation of the load relative to one or more guides is predetermined.   146. The support mechanism of claim 145, wherein a translational distance of the load relative to the one or more guides is measurable.   175. The support mechanism of claim 174, wherein the support mechanism includes one or more Hall sensors for measuring the translation distance of the load.   175. The support mechanism of claim 174, wherein the support mechanism includes one or more digital calipers for measuring the translation distance of the load.   146. The support mechanism of claim 145, wherein a translation distance of the load relative to the one or more guides is controllable.   The support mechanism according to claim 177, wherein a control system is mounted on the UAV, and the parallel movement distance of the mounted object is controlled.   178. The support mechanism of claim 177, wherein the translation distance of the load is wirelessly controlled by a remote controller.   146. The support mechanism of claim 145, wherein the support mechanism includes a control system that controls the translation of the load.   181. The support mechanism of claim 180, wherein the control system is configured to receive a translation command from a remote controller.   181. The support mechanism of claim 180, wherein the control system is configured to receive a translation command directly from a user. A remote controller that controls the positioning of the load on an unmanned aerial vehicle (UAV),
145. A processor configured to generate user control instructions for controlling the support mechanism of claim 145;
145, a communication unit configured to transmit the user control command to the UAV of claim 145,
The user control command includes a command for the support mechanism that allows the load to translate relative to the one or more guides, and a load that is one for the one or more guides. A remote controller comprising instructions for said support mechanism to enable rotation about one or more axes of rotation. A method for supporting a load on an unmanned aerial vehicle (UAV),
Providing one or more guides;
Configuring a first actuator to allow the load to translate relative to the one or more guides;
Configuring a second actuator to allow the mount to rotate about one or more axes of rotation relative to the one or more guides.   185. The method of claim 184, wherein the one or more guides are one or more bars.   186. The method of claim 185, wherein the one or more bars are oriented vertically.   186. The method of claim 185, wherein the one or more bars are oriented horizontally.   185. The method of claim 184, wherein the first actuator is configured to allow the load to translate horizontally relative to the one or more guides.   185. The method of claim 184, wherein the first actuator is configured to allow the load to translate vertically with respect to the one or more guides.   189. The method of claim 189, wherein the first actuator allows the load to translate in the vertical direction without rotating the load at all by the second actuator.   189. The method of claim 189, wherein the first actuator allows the load to translate in the vertical direction, while the second actuator allows the load to rotate.   189. The method of claim 189, wherein the first actuator allows the load to translate in the vertical direction without having to translate in the horizontal direction at all.   189. The method of claim 189, wherein the first actuator allows the load to translate in the vertical direction while allowing horizontal translation.   185. The method of claim 184, wherein the method comprises providing at least one vertical guide.   195. The method of claim 194, wherein the at least one vertical guide passes through a central body of the UAV.   195. The method of claim 194, wherein at least two vertical guides that are substantially parallel to each other pass through the central body of the UAV.   195. The method of claim 194, wherein the method comprises positioning the first actuator in the at least one vertical guide.   197. The method of claim 197, wherein the first actuator includes at least one motor.   199. The method of claim 198, wherein the method comprises positioning the at least one motor above a central body of the UAV.   199. The method of claim 198, wherein the method comprises positioning the at least one motor below a central body of the UAV.   The first actuator includes a guide screw, and the guide screw is disposed on the at least one vertical guide and engages the load so that the at least one motor drives the guide screw. 199. The method of claim 198, wherein the load is translated.   The first actuator includes a synchronization belt, and the synchronization belt is disposed on the at least one vertical guide and is connected to the load so that the at least one motor drives the synchronization belt and the 199. The method of claim 198, wherein the load is translated.   The first actuator includes a steel wire rope; and the steel wire rope is disposed in the at least one vertical guide and is connected to the load; and the at least one motor drives the steel wire line. 199. The method of claim 198, wherein the load is translated.   The method comprises configuring the second actuator to include a gimbal coupled to the mount; and the mount is about one or more rotational axes relative to the one or more guides. 184. The method of claim 184, comprising: configuring the gimbal to allow rotation.   205. The method of claim 204, wherein the gimbal is a triaxial gimbal.   205. The method of claim 204, wherein the load is an imaging device.   207. The method of claim 206, wherein the imaging device continues to shoot while translating.   207. The method of claim 206, wherein the imaging device stops imaging while translating.   207. The method of claim 206, wherein the imaging device continues to shoot within a certain translation distance.   207. The method of claim 206, wherein the imaging device stops shooting within a certain translation distance.   206. The imaging apparatus performs high-angle shooting at the bottom end of the support mechanism with respect to the central body, and performs low-angle shooting at the upper end of the support mechanism with respect to the central body. The method described in 1.   185. The method of claim 184, wherein the method includes predetermining a translation distance of the load with respect to one or more guides.   185. The method of claim 184, wherein the method includes measuring a translation distance of the load relative to the one or more guides.   213. The method of claim 213, further comprising configuring one or more Hall sensors to measure the translation distance of the load.   213. The method of claim 213, further comprising configuring one or more digital calipers to measure the translation distance of the load.   185. The method of claim 184, wherein the method includes controlling a translation distance of the load relative to the one or more guides.   227. The method of claim 216, further comprising configuring a control system mounted on the UAV to control the translation distance of the load.   185. The method of claim 184, wherein the method comprises receiving a translation command from a remote controller.   185. The method of claim 184, wherein the method includes receiving a translation command from user input.